backup: add missing files to sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-030000-data/callbacks.visualization_callback._max_dataframe.__.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ad9c0c47c0e592e937c931759cbc06d797fcb0316b5bc9ce1873a1ef5c00bd
+size 985

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-030000-data/callbacks.visualization_callback._min_dataframe.__.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ad9c0c47c0e592e937c931759cbc06d797fcb0316b5bc9ce1873a1ef5c00bd
+size 985

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-030000-data/callbacks.visualization_callback._rand_dataframe.__.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ad9c0c47c0e592e937c931759cbc06d797fcb0316b5bc9ce1873a1ef5c00bd
+size 985

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/config.yaml

@@ -1,215 +1,3 @@
-session_config:
-  output_path: /home/petko_petkov/experiments/vlams/control
-  tag: bridge_curriculum_phase1
-  metrics_config:
-    buckets:
-      wandb:
-        autoclass: barrel.train.core.trainer.metrics_buckets.wandb_metrics_bucket.WandbMetricsBucket
-        project: diffusion_vlams
-gpus: 8
-num_steps: 15000
-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
-      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
-      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:
-      - 15000
-      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
+version https://git-lfs.github.com/spec/v1
+oid sha256:06ea035872d31218c768fdd4506d7f98c7ac60449769a838d5821161c8f61b65
+size 7921

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/full_config.yaml

@@ -1,496 +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:
-      autoclass: barrel.train.components.callbacks.plot_grads_callback.PlotGradsCallback
-      enabled: false
-      names: []
-      plot_interval: 200
-    checkpoint_callback:
-      autoclass: barrel.train.components.callbacks.checkpoint_callback.CheckpointCallback
-      ema_config:
-        decay: 0.99
-        enabled: true
-        interval: 1
-        start_step: 20000
-      enabled: true
-      keep_model_percent: []
-      keep_model_steps:
-      - 15000
-      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
-  dataset_configs:
-    bridge:
-      augment_kwargs:
-        main:
-          color_jitter:
-            brightness:
-            - 0.9
-            - 1.1
-            contrast:
-            - 0.9
-            - 1.1
-            saturation:
-            - 0.9
-            - 1.1
-            hue: 0.05
-          resize:
-            scale:
-            - 0.8
-            - 1.0
-            ratio:
-            - 0.1
-            - 0.1
-        wrist:
-          color_jitter:
-            brightness:
-            - 0.9
-            - 1.1
-            contrast:
-            - 0.9
-            - 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
-        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
-        past_scalars_shift_sec: 0.0
-        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: 15000
-seed: 1222297665
-session_config:
-  config_path: barrel/train/pipes/vlams/configs/control/pizero_fm_paligemma_bridge_curriculum_phase1.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_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-  session_path: /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-  tag: bridge_curriculum_phase1
-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
-        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
-            pretrain_config:
-              exclude_modules: []
-              fine_tuneable_modules: []
-              frozen_dtype: float32
-              state_dict:
-                checkpoint_path: null
-                drop_keys: []
-                hf_filename: null
-                hf_hub_repo: null
-                load_key: ''
-                remap_keys: {}
-              trainable: null
-          pretrain_config:
-            exclude_modules: []
-            fine_tuneable_modules: []
-            frozen_dtype: float32
-            state_dict:
-              checkpoint_path: null
-              drop_keys: []
-              hf_filename: null
-              hf_hub_repo: null
-              load_key: ''
-              remap_keys: {}
-            trainable: null
-        num_blocks: 18
-        pretrain_config:
-          exclude_modules: []
-          fine_tuneable_modules: []
-          frozen_dtype: float32
-          state_dict:
-            checkpoint_path: null
-            drop_keys: []
-            hf_filename: null
-            hf_hub_repo: null
-            load_key: ''
-            remap_keys: {}
-          trainable: null
-      noised_control_proj_config:
-        activation: SiLU
-        autoclass: barrel.train.pipes.vlams.models.control.token_proj.NoisedControlProjector
-        layers:
-        - 8
-        - 2048
-        - 1024
-        - 1024
-        norm: null
-        pretrain_config:
-          exclude_modules: []
-          fine_tuneable_modules: []
-          frozen_dtype: float32
-          state_dict:
-            checkpoint_path: null
-            drop_keys: []
-            hf_filename: null
-            hf_hub_repo: null
-            load_key: ''
-            remap_keys: {}
-          trainable: 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
-          pretrain_config:
-            exclude_modules: []
-            fine_tuneable_modules: []
-            frozen_dtype: float32
-            state_dict:
-              checkpoint_path: null
-              drop_keys: []
-              hf_filename: null
-              hf_hub_repo: null
-              load_key: ''
-              remap_keys: {}
-            trainable: null
-      pretrain_config:
-        exclude_modules: []
-        fine_tuneable_modules: []
-        frozen_dtype: float32
-        state_dict:
-          checkpoint_path: null
-          drop_keys: []
-          hf_filename: null
-          hf_hub_repo: null
-          load_key: ''
-          remap_keys: {}
-        trainable: null
-      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
-        pretrain_config:
-          exclude_modules: []
-          fine_tuneable_modules: []
-          frozen_dtype: float32
-          state_dict:
-            checkpoint_path: null
-            drop_keys: []
-            hf_filename: null
-            hf_hub_repo: null
-            load_key: ''
-            remap_keys: {}
-          trainable: null
-      rotation_components: 4
-      token_size: 1024
-    pretrain_config:
-      exclude_modules: []
-      fine_tuneable_modules: []
-      frozen_dtype: float32
-      state_dict:
-        checkpoint_path: null
-        drop_keys: []
-        hf_filename: null
-        hf_hub_repo: null
-        load_key: ''
-        remap_keys: {}
-      trainable: null
-    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: {}
-      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: -1
-      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:bd5e0b76cb6b7291610aafbeb6924c2760b7ecb4640f84ecb78b3762fe7872be
+size 16020

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/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_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/modeling_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/configuration_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/common_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/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_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/modeling_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/configuration_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/common_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/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_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/modeling_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/configuration_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/common_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/processing_pizero_fm_paligemma.py
-
-
-Fixing /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/modeling_pizero_fm_paligemma.py
-Fixing /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/configuration_pizero_fm_paligemma.py
-Fixing /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/common_pizero_fm_paligemma.py
-Fixing /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/processing_pizero_fm_paligemma.py
-
-reformatted /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/configuration_pizero_fm_paligemma.py
-reformatted /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/common_pizero_fm_paligemma.py
-reformatted /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/src/processing_pizero_fm_paligemma.py
-reformatted /home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/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:fe0e32cf3f9159943e77c44dc0bae6d89c832b00493874572a1402e909ee9e38
+size 5564

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/hf_export/gargantuan-green-herring/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
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f892712e82673a0b76048f0d0fb4a492813c36df8ecbcc54265c66d697dac86
+size 2819

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/language_results.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa48b47d0eb7f4fa77de8d2ab1bb37f2b726e54e20862f9ee6e95e2be09c7745
+size 544466

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/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: -1
-  train_only_depth_tokens: false
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb3f9546044efb942cefc95d211e03d5cda1aeb8d25bd9f29a7fe69ff5bb792
+size 4278

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/raw_config.yaml

@@ -1,11 +1,3 @@
-import: pizero_fm_paligemma_bridge.yaml
-
-session_config:
-  tag: bridge_curriculum_phase1
-
-num_steps: &num_steps 15000
-
-callbacks_config:
-  callbacks:
-    checkpoint_callback:
-      keep_model_steps: !overwrite [15000]
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0b90ff29d4b11cf45658aa01d93964b33108ab0eb7c5915001e05f896ff1435
+size 218

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/session.log

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f24870cf60647678b0e12eb39f8c8ef37eab3922c28235fff5497dbe23ad6e5d
+size 18986089

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/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_curriculum_phase1.yaml", "docker_image": "no-docker-image-detected", "git_branch": "worktree-bridge-tread-qwen", "git_hash": "0d09dc2c2ac847058dcacf1bf838091557f3e380", "gpu_type": "NVIDIA H200", "hostname": "msp3-2", "launched": "Sunday, 05 April 2026 at 07:47:24 UTC", "num_gpus": 8, "num_nodes": 1, "num_steps": 15000, "platform": "slurm", "session_name": "sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1", "session_path": "/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1", "username": "petko_petkov"}
+version https://git-lfs.github.com/spec/v1
+oid sha256:df0ab680e7e76361f4cd0df6923b4fb35a011220a468dd1ba1a01d83205e7c1b
+size 936

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/session_rank_1.log

@@ -1,526 +1,3 @@
-INFO     2026-04-05 07:47:39,913 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     2026-04-05 07:47:39,914 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-05 07:47:41,966 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge
-INFO     2026-04-05 07:48:06,548 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-05 07:48:10,913 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-05 07:48:10,913 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=28947.0, dataset_name=bridge
-INFO     2026-04-05 07:48:10,953 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge, size_before=1466050, size_after=183254, rank=1
-INFO     2026-04-05 07:48:11,805 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge rank=1, status=start
-INFO     2026-04-05 07:48:11,844 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge dataframe_size=183254, num_data_pointers=156074, pct=85.17%, rank=1, status=success
-INFO     2026-04-05 07:48:11,846 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=31931.7
-INFO     2026-04-05 07:48:34,458 barrel.train.core.trainer.trainer session_init status=success, rank=1
-INFO     2026-04-05 07:48:34,460 barrel.train.core.trainer.trainer start_training rank=1, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-05 07:48:34,519 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=1, hostname=msp3-2, worker_pid=3875752, parent_pid=3872890, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:48:34,552 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=1, hostname=msp3-2, worker_pid=3875770, parent_pid=3872890, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:51:52,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:54:44,997 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:57:35,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:00:26,862 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:03:18,033 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:06:09,619 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:09:01,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:11:53,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:14:44,578 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:17:37,375 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:20:30,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:23:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:26:15,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:29:07,502 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:31:59,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:34:50,984 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:37:43,456 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:40:35,332 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:43:28,467 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:46:21,132 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:49:13,209 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:52:04,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:54:56,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:57:48,497 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:00:40,238 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:03:32,325 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:06:23,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:09:15,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:12:08,117 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:14:59,227 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:17:51,080 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:20:42,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:23:34,083 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:26:26,064 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:29:18,322 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:32:09,487 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:35:00,441 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:37:52,631 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:40:43,428 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:43:34,586 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:46:26,626 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:49:17,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:52:06,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:54:57,889 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:57:48,894 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:00:41,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:03:33,426 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:06:24,800 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:09:17,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:12:18,772 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:15:33,483 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:18:24,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:21:17,303 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:24:08,917 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:27:00,005 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:29:51,959 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:32:42,383 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:35:34,045 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:38:25,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:41:18,350 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:44:08,990 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:47:00,701 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:49:51,287 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:52:43,485 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:55:35,867 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:58:26,949 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:01:18,366 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:04:10,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:07:02,461 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:09:53,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:12:45,451 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:15:36,492 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:18:28,400 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:21:20,007 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:24:11,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:27:02,198 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:29:53,736 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:32:44,011 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:35:35,032 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:38:25,486 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:41:15,315 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:44:05,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:46:56,617 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:49:47,469 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:52:38,563 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:55:30,290 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:58:21,027 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:01:13,424 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:04:04,015 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:06:55,196 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:09:46,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:12:37,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:15:28,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:18:19,903 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:21:11,565 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:24:02,399 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:26:54,834 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:29:45,333 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:32:36,286 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:35:36,863 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:38:50,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:41:41,343 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:44:32,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:47:23,459 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:50:13,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:53:06,274 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:55:56,980 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:58:48,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:01:39,887 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:04:31,406 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:07:22,319 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:10:15,398 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:13:06,519 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:15:57,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:18:49,647 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:21:40,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:24:31,281 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:27:22,709 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:30:13,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:33:06,043 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:35:57,606 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:38:47,618 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:41:40,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:44:31,526 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:47:23,254 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:50:14,660 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:53:06,896 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:55:58,107 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:58:50,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:01:41,282 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:04:32,278 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:07:24,300 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:10:15,785 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:13:07,365 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:15:58,762 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:18:49,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:21:40,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:24:31,804 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:27:22,607 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:30:14,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:33:06,049 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:35:56,094 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:38:48,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:41:40,352 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:44:32,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:47:25,215 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:50:15,915 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:53:07,347 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:56:00,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:02,313 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:35,376 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=1
-INFO     2026-04-06 07:33:53,247 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     2026-04-06 07:33:53,250 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 07:33:56,251 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:13,988 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:19,398 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     2026-04-06 07:34:23,946 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     2026-04-06 07:34:23,948 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=27697.1, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:23,993 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     2026-04-06 07:34:24,858 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=1, status=start
-INFO     2026-04-06 07:34:24,906 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     2026-04-06 07:34:24,910 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=31660.3
-INFO     2026-04-06 07:34:24,918 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=1, status=start
-INFO     2026-04-06 07:36:05,815 barrel.train.core.trainer.trainer Restore session checkpoint rank=1, status=success
-INFO     2026-04-06 07:36:27,875 barrel.train.core.trainer.trainer session_init status=success, rank=1
-INFO     2026-04-06 07:36:27,879 barrel.train.core.trainer.trainer start_training rank=1, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 07:36:27,937 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=1, hostname=msp3-5, worker_pid=2465169, parent_pid=2461886, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:36:27,977 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=1, hostname=msp3-5, worker_pid=2465195, parent_pid=2461886, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:39:43,068 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:42:35,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:45:26,709 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:48:18,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:51:08,587 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:54:00,463 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:56:51,070 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:59:43,648 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:02:34,656 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:05:26,547 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:08:18,653 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:11:11,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:14:03,148 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:16:57,119 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:19:48,732 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:22:39,880 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:25:31,510 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:28:25,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:31:16,666 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:34:09,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:37:01,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:39:53,914 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:42:45,381 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:45:38,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:48:30,989 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:51:23,308 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:54:13,610 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:57:05,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:59:57,948 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:02:49,534 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:05:41,813 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:08:33,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:11:25,220 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:14:17,223 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:17:08,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:20:01,791 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:22:53,270 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:25:46,358 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:28:40,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:31:33,388 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:34:24,732 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:37:17,501 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:40:08,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:43:00,699 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:45:52,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:48:44,228 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:51:36,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:54:29,349 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:57:20,633 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:00:22,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:03:48,882 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:06:52,075 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:09:59,025 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:13:05,837 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:16:11,930 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:19:15,973 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:22:24,656 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:25:33,535 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:28:42,180 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:31:51,507 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:35:00,437 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:38:08,598 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:41:15,590 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:29:31,531 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     2026-04-06 11:29:31,533 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 11:29:34,907 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:43,556 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:47,858 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     2026-04-06 11:29:51,526 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     2026-04-06 11:29:51,527 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=16619.9, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:51,568 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     2026-04-06 11:29:52,392 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=1, status=start
-INFO     2026-04-06 11:29:52,431 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     2026-04-06 11:29:52,433 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=20899.3
-INFO     2026-04-06 11:29:52,439 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=1, status=start
-INFO     2026-04-06 11:31:39,839 barrel.train.core.trainer.trainer Restore session checkpoint rank=1, status=success
-INFO     2026-04-06 11:32:01,842 barrel.train.core.trainer.trainer session_init status=success, rank=1
-INFO     2026-04-06 11:32:01,844 barrel.train.core.trainer.trainer start_training rank=1, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 11:32:02,009 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=1, hostname=msp3-7, worker_pid=3492780, parent_pid=3489441, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:32:02,044 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=1, hostname=msp3-7, worker_pid=3492815, parent_pid=3489441, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:35:29,333 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:38:35,205 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:41:41,427 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:44:46,848 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:47:52,316 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:50:56,954 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:54:03,028 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:57:07,422 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:00:13,665 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:03:19,349 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:06:23,694 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:09:29,445 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:12:35,570 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:15:41,417 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:18:46,704 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:21:51,861 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:24:57,747 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:28:01,899 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:31:07,224 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:34:11,865 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:37:16,740 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:40:21,216 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:43:25,432 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:46:31,795 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:49:37,508 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:52:43,064 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:55:47,771 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:58:53,489 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:01:58,056 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:05:03,713 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:08:09,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:11:13,195 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:14:19,368 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:17:25,228 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:20:30,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:23:35,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:26:41,882 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:29:48,081 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:32:52,616 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:35:57,626 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:39:03,080 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:42:10,406 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:45:14,630 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:48:20,969 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:51:25,867 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:54:30,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:57:36,003 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:00:41,876 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:03:49,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:07:04,774 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:10:39,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:13:44,085 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:16:49,283 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:19:53,528 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:22:58,782 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:26:03,760 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:29:07,809 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:32:11,851 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:35:16,305 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:38:22,032 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:41:25,472 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:44:30,525 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:47:36,050 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:50:40,765 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:53:45,035 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:56:50,252 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:59:56,683 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 15:03:02,324 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:41:05,378 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     2026-04-07 00:41:05,381 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-07 00:41:08,565 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:17,583 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:22,441 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     2026-04-07 00:41:26,525 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     2026-04-07 00:41:26,526 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=17960.8, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:26,565 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     2026-04-07 00:41:27,562 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=1, status=start
-INFO     2026-04-07 00:41:27,601 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     2026-04-07 00:41:27,602 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=22221.5
-INFO     2026-04-07 00:41:27,607 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=1, status=start
-INFO     2026-04-07 00:43:48,421 barrel.train.core.trainer.trainer Restore session checkpoint rank=1, status=success
-INFO     2026-04-07 00:44:10,421 barrel.train.core.trainer.trainer session_init status=success, rank=1
-INFO     2026-04-07 00:44:10,423 barrel.train.core.trainer.trainer start_training rank=1, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-07 00:44:10,488 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=1, hostname=msp3-5, worker_pid=3313510, parent_pid=3310179, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:44:10,498 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=1, hostname=msp3-5, worker_pid=3313518, parent_pid=3310179, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:47:36,029 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:50:38,869 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:53:42,313 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:56:45,086 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:59:47,986 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:02:50,209 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:05:53,527 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:08:56,068 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:11:58,574 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:15:02,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:18:05,103 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:21:08,473 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:24:11,699 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:27:15,143 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:30:16,884 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:33:19,435 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:36:22,455 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:39:25,142 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:42:29,620 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:45:32,634 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:48:36,837 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:51:39,490 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:54:42,915 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:57:46,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:00:50,170 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:03:54,279 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:06:57,975 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:10:02,504 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:13:05,975 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:16:10,140 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:19:14,240 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:22:17,137 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:25:21,416 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:28:24,738 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:31:29,706 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:34:33,435 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:37:37,740 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:40:41,387 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:43:44,863 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:46:48,385 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:49:52,438 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:52:56,831 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:56:01,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:59:07,330 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:02:11,725 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:05:16,725 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:08:20,098 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:11:23,979 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:14:28,686 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:17:51,601 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:18:34,221 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=1
+version https://git-lfs.github.com/spec/v1
+oid sha256:7792d124f680eb3b1187797c9c324f23e4cf0f643d2787788905cd7f2b83bf2d
+size 63999

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/session_rank_2.log

@@ -1,526 +1,3 @@
-INFO     2026-04-05 07:47:39,888 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     2026-04-05 07:47:39,890 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-05 07:47:42,059 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge
-INFO     2026-04-05 07:47:55,884 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-05 07:48:00,080 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-05 07:48:00,080 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=18021.2, dataset_name=bridge
-INFO     2026-04-05 07:48:00,119 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge, size_before=1466050, size_after=183271, rank=2
-INFO     2026-04-05 07:48:01,165 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge rank=2, status=start
-INFO     2026-04-05 07:48:01,203 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge dataframe_size=183271, num_data_pointers=166095, pct=90.63%, rank=2, status=success
-INFO     2026-04-05 07:48:01,205 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=21314.9
-INFO     2026-04-05 07:48:34,458 barrel.train.core.trainer.trainer session_init status=success, rank=2
-INFO     2026-04-05 07:48:34,460 barrel.train.core.trainer.trainer start_training rank=2, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-05 07:48:34,538 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=2, hostname=msp3-2, worker_pid=3875756, parent_pid=3872891, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:48:34,582 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=2, hostname=msp3-2, worker_pid=3875804, parent_pid=3872891, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:51:52,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:54:44,997 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:57:35,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:00:26,862 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:03:18,033 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:06:09,619 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:09:01,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:11:53,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:14:44,578 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:17:37,375 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:20:30,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:23:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:26:15,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:29:07,502 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:31:59,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:34:50,984 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:37:43,456 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:40:35,332 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:43:28,467 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:46:21,132 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:49:13,209 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:52:04,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:54:56,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:57:48,497 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:00:40,238 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:03:32,325 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:06:23,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:09:15,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:12:08,117 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:14:59,227 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:17:51,080 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:20:42,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:23:34,083 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:26:26,063 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:29:18,322 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:32:09,487 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:35:00,441 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:37:52,631 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:40:43,428 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:43:34,586 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:46:26,626 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:49:17,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:52:06,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:54:57,889 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:57:48,894 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:00:41,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:03:33,426 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:06:24,800 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:09:17,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:12:18,686 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:15:33,482 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:18:24,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:21:17,302 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:24:08,917 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:27:00,005 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:29:51,958 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:32:42,383 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:35:34,045 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:38:25,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:41:18,350 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:44:08,990 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:47:00,701 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:49:51,287 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:52:43,485 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:55:35,867 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:58:26,949 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:01:18,366 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:04:10,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:07:02,461 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:09:53,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:12:45,451 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:15:36,492 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:18:28,400 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:21:20,006 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:24:11,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:27:02,198 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:29:53,736 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:32:44,011 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:35:35,032 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:38:25,486 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:41:15,315 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:44:05,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:46:56,617 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:49:47,469 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:52:38,563 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:55:30,290 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:58:21,027 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:01:13,424 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:04:04,015 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:06:55,195 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:09:46,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:12:37,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:15:28,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:18:19,903 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:21:11,565 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:24:02,399 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:26:54,834 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:29:45,333 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:32:36,286 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:35:36,776 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:38:50,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:41:41,343 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:44:32,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:47:23,459 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:50:13,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:53:06,274 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:55:56,979 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:58:48,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:01:39,887 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:04:31,406 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:07:22,319 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:10:15,398 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:13:06,519 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:15:57,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:18:49,648 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:21:40,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:24:31,281 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:27:22,709 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:30:13,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:33:06,043 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:35:57,606 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:38:47,618 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:41:40,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:44:31,526 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:47:23,254 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:50:14,660 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:53:06,896 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:55:58,107 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:58:50,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:01:41,282 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:04:32,278 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:07:24,300 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:10:15,785 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:13:07,365 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:15:58,762 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:18:49,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:21:40,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:24:31,803 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:27:22,607 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:30:14,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:33:06,049 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:35:56,094 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:38:48,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:41:40,352 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:44:32,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:47:25,214 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:50:15,915 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:53:07,347 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:56:00,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:02,183 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:35,376 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=2
-INFO     2026-04-06 07:33:53,119 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     2026-04-06 07:33:53,122 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 07:33:56,084 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:13,383 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:20,583 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     2026-04-06 07:34:25,333 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     2026-04-06 07:34:25,333 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=29248.8, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:25,374 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     2026-04-06 07:34:26,288 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=2, status=start
-INFO     2026-04-06 07:34:26,333 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     2026-04-06 07:34:26,334 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=33212.6
-INFO     2026-04-06 07:34:26,340 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=2, status=start
-INFO     2026-04-06 07:36:05,842 barrel.train.core.trainer.trainer Restore session checkpoint rank=2, status=success
-INFO     2026-04-06 07:36:27,876 barrel.train.core.trainer.trainer session_init status=success, rank=2
-INFO     2026-04-06 07:36:27,879 barrel.train.core.trainer.trainer start_training rank=2, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 07:36:27,947 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=2, hostname=msp3-5, worker_pid=2465174, parent_pid=2461887, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:36:28,002 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=2, hostname=msp3-5, worker_pid=2465214, parent_pid=2461887, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:39:43,068 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:42:35,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:45:26,710 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:48:18,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:51:08,588 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:54:00,463 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:56:51,070 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:59:43,648 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:02:34,655 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:05:26,546 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:08:18,653 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:11:11,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:14:03,149 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:16:57,119 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:19:48,732 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:22:39,880 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:25:31,510 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:28:25,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:31:16,666 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:34:09,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:37:01,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:39:53,914 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:42:45,381 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:45:38,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:48:30,988 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:51:23,308 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:54:13,610 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:57:05,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:59:57,948 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:02:49,534 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:05:41,813 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:08:33,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:11:25,220 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:14:17,223 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:17:08,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:20:01,792 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:22:53,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:25:46,358 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:28:40,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:31:33,388 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:34:24,732 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:37:17,501 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:40:08,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:43:00,698 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:45:52,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:48:44,228 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:51:36,495 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:54:29,349 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:57:20,633 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:00:22,896 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:03:48,881 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:06:52,081 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:09:59,023 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:13:05,837 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:16:11,929 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:19:15,977 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:22:24,664 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:25:33,549 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:28:42,172 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:31:51,516 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:35:00,444 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:38:08,610 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:41:15,601 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:29:31,533 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     2026-04-06 11:29:31,537 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 11:29:34,940 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:43,630 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:47,887 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     2026-04-06 11:29:51,559 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     2026-04-06 11:29:51,559 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=16619.3, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:51,600 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     2026-04-06 11:29:52,408 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=2, status=start
-INFO     2026-04-06 11:29:52,447 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     2026-04-06 11:29:52,448 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=20911.5
-INFO     2026-04-06 11:29:52,453 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=2, status=start
-INFO     2026-04-06 11:31:39,838 barrel.train.core.trainer.trainer Restore session checkpoint rank=2, status=success
-INFO     2026-04-06 11:32:01,842 barrel.train.core.trainer.trainer session_init status=success, rank=2
-INFO     2026-04-06 11:32:01,844 barrel.train.core.trainer.trainer start_training rank=2, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 11:32:02,006 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=2, hostname=msp3-7, worker_pid=3492777, parent_pid=3489442, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:32:02,026 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=2, hostname=msp3-7, worker_pid=3492786, parent_pid=3489442, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:35:29,328 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:38:35,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:41:41,427 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:44:46,852 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:47:52,315 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:50:56,952 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:54:03,027 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:57:07,420 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:00:13,670 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:03:19,351 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:06:23,695 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:09:29,459 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:12:35,569 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:15:41,416 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:18:46,702 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:21:51,861 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:24:57,746 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:28:01,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:31:07,224 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:34:11,865 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:37:16,738 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:40:21,215 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:43:25,432 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:46:31,790 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:49:37,505 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:52:43,061 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:55:47,771 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:58:53,486 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:01:58,051 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:05:03,711 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:08:09,155 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:11:13,195 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:14:19,365 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:17:25,217 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:20:30,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:23:35,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:26:41,880 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:29:48,080 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:32:52,616 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:35:57,628 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:39:03,078 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:42:10,406 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:45:14,630 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:48:20,967 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:51:25,865 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:54:30,720 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:57:36,001 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:00:41,873 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:03:49,030 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:07:04,710 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:10:39,270 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:13:44,082 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:16:49,280 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:19:53,526 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:22:58,775 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:26:03,758 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:29:07,810 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:32:11,865 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:35:16,304 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:38:22,032 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:41:25,471 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:44:30,524 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:47:36,041 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:50:40,764 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:53:45,031 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:56:50,250 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:59:56,683 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 15:03:02,331 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:41:05,445 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     2026-04-07 00:41:05,450 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-07 00:41:08,566 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:17,724 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:22,571 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     2026-04-07 00:41:26,705 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     2026-04-07 00:41:26,705 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=18138.6, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:26,745 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     2026-04-07 00:41:27,734 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=2, status=start
-INFO     2026-04-07 00:41:27,773 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     2026-04-07 00:41:27,774 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=22324.7
-INFO     2026-04-07 00:41:27,779 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=2, status=start
-INFO     2026-04-07 00:43:48,420 barrel.train.core.trainer.trainer Restore session checkpoint rank=2, status=success
-INFO     2026-04-07 00:44:10,421 barrel.train.core.trainer.trainer session_init status=success, rank=2
-INFO     2026-04-07 00:44:10,423 barrel.train.core.trainer.trainer start_training rank=2, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-07 00:44:10,474 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=2, hostname=msp3-5, worker_pid=3313509, parent_pid=3310180, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:44:10,497 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=2, hostname=msp3-5, worker_pid=3313514, parent_pid=3310180, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:47:36,025 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:50:38,867 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:53:42,312 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:56:45,082 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:59:47,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:02:50,207 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:05:53,527 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:08:56,070 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:11:58,574 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:15:02,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:18:05,103 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:21:08,472 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:24:11,705 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:27:15,142 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:30:16,884 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:33:19,433 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:36:22,454 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:39:25,140 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:42:29,617 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:45:32,636 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:48:36,837 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:51:39,489 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:54:42,914 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:57:46,408 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:00:50,168 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:03:54,281 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:06:57,974 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:10:02,506 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:13:05,974 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:16:10,139 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:19:14,241 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:22:17,137 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:25:21,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:28:24,735 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:31:29,705 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:34:33,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:37:37,738 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:40:41,387 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:43:44,849 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:46:48,384 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:49:52,436 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:52:56,831 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:56:01,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:59:07,327 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:02:11,724 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:05:16,726 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:08:20,100 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:11:23,978 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:14:28,686 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:17:51,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:18:34,222 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=2
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaa6984aa5db79c0d8b484f905b51cc55b5213c8c95420d7d614c9d54f45fd90
+size 63999

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/session_rank_3.log

@@ -1,526 +1,3 @@
-INFO     2026-04-05 07:47:39,920 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     2026-04-05 07:47:39,921 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-05 07:47:42,035 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge
-INFO     2026-04-05 07:48:03,688 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-05 07:48:08,057 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-05 07:48:08,057 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=26022.5, dataset_name=bridge
-INFO     2026-04-05 07:48:08,097 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge, size_before=1466050, size_after=183231, rank=3
-INFO     2026-04-05 07:48:08,968 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge rank=3, status=start
-INFO     2026-04-05 07:48:09,007 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge dataframe_size=183231, num_data_pointers=160835, pct=87.78%, rank=3, status=success
-INFO     2026-04-05 07:48:09,009 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=29087.800000000003
-INFO     2026-04-05 07:48:34,458 barrel.train.core.trainer.trainer session_init status=success, rank=3
-INFO     2026-04-05 07:48:34,460 barrel.train.core.trainer.trainer start_training rank=3, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-05 07:48:34,516 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=3, hostname=msp3-2, worker_pid=3875749, parent_pid=3872892, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:48:34,547 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=3, hostname=msp3-2, worker_pid=3875761, parent_pid=3872892, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:51:52,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:54:44,997 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:57:35,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:00:26,862 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:03:18,033 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:06:09,619 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:09:01,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:11:53,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:14:44,578 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:17:37,375 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:20:30,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:23:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:26:15,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:29:07,502 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:31:59,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:34:50,984 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:37:43,456 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:40:35,332 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:43:28,467 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:46:21,132 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:49:13,209 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:52:04,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:54:56,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:57:48,497 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:00:40,238 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:03:32,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:06:23,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:09:15,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:12:08,117 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:14:59,227 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:17:51,080 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:20:42,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:23:34,083 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:26:26,063 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:29:18,322 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:32:09,487 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:35:00,441 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:37:52,631 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:40:43,428 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:43:34,586 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:46:26,626 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:49:17,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:52:06,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:54:57,889 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:57:48,894 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:00:41,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:03:33,426 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:06:24,800 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:09:17,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:12:18,806 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:15:33,483 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:18:24,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:21:17,302 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:24:08,917 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:27:00,005 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:29:51,959 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:32:42,383 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:35:34,045 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:38:25,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:41:18,350 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:44:08,990 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:47:00,701 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:49:51,287 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:52:43,485 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:55:35,867 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:58:26,949 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:01:18,366 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:04:10,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:07:02,461 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:09:53,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:12:45,451 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:15:36,492 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:18:28,400 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:21:20,006 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:24:11,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:27:02,198 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:29:53,736 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:32:44,011 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:35:35,032 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:38:25,486 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:41:15,315 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:44:05,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:46:56,617 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:49:47,469 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:52:38,563 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:55:30,289 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:58:21,027 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:01:13,424 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:04:04,015 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:06:55,196 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:09:46,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:12:37,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:15:28,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:18:19,903 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:21:11,565 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:24:02,399 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:26:54,834 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:29:45,333 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:32:36,286 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:35:36,955 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:38:50,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:41:41,343 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:44:32,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:47:23,459 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:50:13,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:53:06,274 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:55:56,979 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:58:48,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:01:39,887 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:04:31,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:07:22,319 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:10:15,398 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:13:06,519 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:15:57,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:18:49,647 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:21:40,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:24:31,281 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:27:22,709 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:30:13,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:33:06,043 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:35:57,606 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:38:47,618 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:41:40,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:44:31,526 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:47:23,254 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:50:14,660 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:53:06,896 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:55:58,107 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:58:50,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:01:41,282 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:04:32,278 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:07:24,300 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:10:15,785 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:13:07,365 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:15:58,762 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:18:49,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:21:40,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:24:31,803 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:27:22,607 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:30:14,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:33:06,049 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:35:56,094 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:38:48,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:41:40,352 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:44:32,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:47:25,215 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:50:15,915 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:53:07,347 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:56:00,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:01,670 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:35,376 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=3
-INFO     2026-04-06 07:33:53,166 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     2026-04-06 07:33:53,171 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 07:33:56,071 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:10,494 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:18,352 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     2026-04-06 07:34:22,693 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     2026-04-06 07:34:22,694 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=26622.699999999997, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:22,735 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     2026-04-06 07:34:23,620 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=3, status=start
-INFO     2026-04-06 07:34:23,662 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     2026-04-06 07:34:23,664 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=30493.0
-INFO     2026-04-06 07:34:23,671 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=3, status=start
-INFO     2026-04-06 07:36:05,858 barrel.train.core.trainer.trainer Restore session checkpoint rank=3, status=success
-INFO     2026-04-06 07:36:27,877 barrel.train.core.trainer.trainer session_init status=success, rank=3
-INFO     2026-04-06 07:36:27,879 barrel.train.core.trainer.trainer start_training rank=3, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 07:36:27,940 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=3, hostname=msp3-5, worker_pid=2465170, parent_pid=2461888, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:36:27,974 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=3, hostname=msp3-5, worker_pid=2465197, parent_pid=2461888, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:39:43,068 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:42:35,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:45:26,709 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:48:18,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:51:08,588 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:54:00,463 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:56:51,070 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:59:43,648 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:02:34,656 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:05:26,546 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:08:18,653 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:11:11,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:14:03,148 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:16:57,119 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:19:48,732 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:22:39,880 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:25:31,510 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:28:25,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:31:16,666 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:34:09,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:37:01,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:39:53,914 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:42:45,381 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:45:38,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:48:30,988 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:51:23,308 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:54:13,610 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:57:05,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:59:57,948 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:02:49,534 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:05:41,813 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:08:33,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:11:25,220 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:14:17,223 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:17:08,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:20:01,791 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:22:53,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:25:46,358 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:28:40,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:31:33,388 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:34:24,731 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:37:17,501 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:40:08,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:43:00,698 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:45:52,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:48:44,228 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:51:36,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:54:29,349 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:57:20,633 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:00:22,859 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:03:48,882 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:06:52,082 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:09:59,025 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:13:05,838 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:16:11,931 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:19:15,973 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:22:24,662 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:25:33,546 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:28:42,169 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:31:51,513 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:35:00,441 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:38:08,605 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:41:15,592 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:29:31,541 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     2026-04-06 11:29:31,542 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 11:29:34,957 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:43,734 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:48,010 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     2026-04-06 11:29:51,747 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     2026-04-06 11:29:51,748 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=16790.199999999997, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:51,791 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     2026-04-06 11:29:52,609 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=3, status=start
-INFO     2026-04-06 11:29:52,648 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     2026-04-06 11:29:52,650 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=21107.399999999998
-INFO     2026-04-06 11:29:52,655 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=3, status=start
-INFO     2026-04-06 11:31:39,839 barrel.train.core.trainer.trainer Restore session checkpoint rank=3, status=success
-INFO     2026-04-06 11:32:01,842 barrel.train.core.trainer.trainer session_init status=success, rank=3
-INFO     2026-04-06 11:32:01,844 barrel.train.core.trainer.trainer start_training rank=3, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 11:32:02,012 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=3, hostname=msp3-7, worker_pid=3492781, parent_pid=3489443, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:32:02,046 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=3, hostname=msp3-7, worker_pid=3492823, parent_pid=3489443, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:35:29,332 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:38:35,205 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:41:41,426 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:44:46,853 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:47:52,316 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:50:56,954 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:54:03,028 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:57:07,427 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:00:13,670 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:03:19,356 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:06:23,701 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:09:29,449 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:12:35,573 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:15:41,419 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:18:46,707 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:21:51,865 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:24:57,751 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:28:01,900 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:31:07,226 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:34:11,869 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:37:16,742 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:40:21,220 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:43:25,439 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:46:31,794 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:49:37,509 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:52:43,066 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:55:47,773 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:58:53,491 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:01:58,054 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:05:03,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:08:09,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:11:13,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:14:19,371 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:17:25,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:20:30,205 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:23:35,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:26:41,883 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:29:48,085 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:32:52,621 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:35:57,631 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:39:03,083 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:42:10,406 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:45:14,642 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:48:20,973 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:51:25,870 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:54:30,723 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:57:36,006 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:00:41,878 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:03:49,035 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:07:04,756 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:10:39,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:13:44,083 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:16:49,287 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:19:53,534 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:22:58,780 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:26:03,765 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:29:07,820 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:32:11,856 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:35:16,311 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:38:22,038 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:41:25,477 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:44:30,533 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:47:36,055 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:50:40,772 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:53:45,038 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:56:50,257 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:59:56,690 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 15:03:02,328 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:41:05,434 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     2026-04-07 00:41:05,438 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-07 00:41:08,565 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:17,673 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:22,588 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     2026-04-07 00:41:26,711 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     2026-04-07 00:41:26,711 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=18146.3, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:26,750 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     2026-04-07 00:41:27,767 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=3, status=start
-INFO     2026-04-07 00:41:27,806 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     2026-04-07 00:41:27,807 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=22369.5
-INFO     2026-04-07 00:41:27,812 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=3, status=start
-INFO     2026-04-07 00:43:48,102 barrel.train.core.trainer.trainer Restore session checkpoint rank=3, status=success
-INFO     2026-04-07 00:44:10,421 barrel.train.core.trainer.trainer session_init status=success, rank=3
-INFO     2026-04-07 00:44:10,423 barrel.train.core.trainer.trainer start_training rank=3, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-07 00:44:10,492 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=3, hostname=msp3-5, worker_pid=3313508, parent_pid=3310181, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:44:10,499 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=3, hostname=msp3-5, worker_pid=3313515, parent_pid=3310181, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:47:36,031 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:50:38,868 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:53:42,311 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:56:45,085 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:59:47,986 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:02:50,209 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:05:53,546 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:08:56,070 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:11:58,575 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:15:02,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:18:05,102 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:21:08,473 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:24:11,700 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:27:15,144 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:30:16,886 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:33:19,435 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:36:22,455 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:39:25,144 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:42:29,619 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:45:32,633 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:48:36,838 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:51:39,490 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:54:42,916 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:57:46,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:00:50,172 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:03:54,282 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:06:57,977 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:10:02,504 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:13:05,977 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:16:10,152 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:19:14,239 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:22:17,138 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:25:21,414 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:28:24,737 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:31:29,706 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:34:33,435 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:37:37,740 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:40:41,389 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:43:44,851 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:46:48,385 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:49:52,438 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:52:56,834 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:56:01,910 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:59:07,494 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:02:11,723 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:05:16,729 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:08:20,100 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:11:23,981 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:14:28,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:17:51,598 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:18:34,222 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=3
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7576ddc2df7f608e2163d65ac4826d06e45769daa23ea34fe0212c932de2f58
+size 64043

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/session_rank_4.log

@@ -1,526 +1,3 @@
-INFO     2026-04-05 07:47:39,879 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     2026-04-05 07:47:39,880 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-05 07:47:41,969 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge
-INFO     2026-04-05 07:47:55,803 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-05 07:48:00,005 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-05 07:48:00,005 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=18036.0, dataset_name=bridge
-INFO     2026-04-05 07:48:00,043 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge, size_before=1466050, size_after=183262, rank=4
-INFO     2026-04-05 07:48:01,112 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge rank=4, status=start
-INFO     2026-04-05 07:48:01,151 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge dataframe_size=183262, num_data_pointers=164614, pct=89.82%, rank=4, status=success
-INFO     2026-04-05 07:48:01,152 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=21272.5
-INFO     2026-04-05 07:48:34,458 barrel.train.core.trainer.trainer session_init status=success, rank=4
-INFO     2026-04-05 07:48:34,460 barrel.train.core.trainer.trainer start_training rank=4, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-05 07:48:34,520 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=4, hostname=msp3-2, worker_pid=3875751, parent_pid=3872893, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:48:34,554 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=4, hostname=msp3-2, worker_pid=3875773, parent_pid=3872893, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:51:52,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:54:44,997 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:57:35,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:00:26,862 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:03:18,033 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:06:09,619 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:09:01,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:11:53,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:14:44,578 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:17:37,375 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:20:30,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:23:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:26:15,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:29:07,502 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:31:59,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:34:50,984 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:37:43,456 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:40:35,332 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:43:28,467 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:46:21,132 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:49:13,209 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:52:04,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:54:56,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:57:48,497 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:00:40,238 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:03:32,325 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:06:23,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:09:15,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:12:08,117 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:14:59,227 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:17:51,080 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:20:42,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:23:34,083 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:26:26,063 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:29:18,322 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:32:09,487 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:35:00,441 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:37:52,631 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:40:43,428 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:43:34,586 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:46:26,626 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:49:17,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:52:06,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:54:57,889 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:57:48,894 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:00:41,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:03:33,426 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:06:24,800 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:09:17,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:12:18,796 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:15:33,483 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:18:24,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:21:17,302 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:24:08,917 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:27:00,005 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:29:51,959 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:32:42,383 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:35:34,045 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:38:25,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:41:18,350 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:44:08,990 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:47:00,701 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:49:51,287 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:52:43,485 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:55:35,867 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:58:26,949 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:01:18,366 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:04:10,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:07:02,461 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:09:53,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:12:45,451 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:15:36,492 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:18:28,400 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:21:20,006 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:24:11,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:27:02,198 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:29:53,736 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:32:44,011 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:35:35,032 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:38:25,486 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:41:15,315 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:44:05,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:46:56,617 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:49:47,469 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:52:38,563 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:55:30,289 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:58:21,027 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:01:13,425 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:04:04,015 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:06:55,196 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:09:46,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:12:37,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:15:28,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:18:19,903 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:21:11,565 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:24:02,399 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:26:54,834 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:29:45,333 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:32:36,286 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:35:36,892 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:38:50,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:41:41,343 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:44:32,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:47:23,459 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:50:13,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:53:06,274 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:55:56,979 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:58:48,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:01:39,887 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:04:31,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:07:22,318 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:10:15,398 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:13:06,519 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:15:57,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:18:49,647 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:21:40,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:24:31,281 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:27:22,709 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:30:13,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:33:06,043 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:35:57,606 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:38:47,618 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:41:40,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:44:31,526 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:47:23,254 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:50:14,660 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:53:06,896 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:55:58,107 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:58:50,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:01:41,282 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:04:32,278 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:07:24,300 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:10:15,785 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:13:07,365 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:15:58,762 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:18:49,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:21:40,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:24:31,803 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:27:22,607 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:30:14,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:33:06,049 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:35:56,094 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:38:48,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:41:40,352 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:44:32,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:47:25,214 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:50:15,915 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:53:07,348 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:56:00,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:02,160 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:35,376 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=4
-INFO     2026-04-06 07:33:53,235 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     2026-04-06 07:33:53,239 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 07:33:56,085 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:05,279 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:10,089 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     2026-04-06 07:34:14,165 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     2026-04-06 07:34:14,165 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=18080.2, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:14,205 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     2026-04-06 07:34:15,165 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=4, status=start
-INFO     2026-04-06 07:34:15,205 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     2026-04-06 07:34:15,206 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=21967.600000000002
-INFO     2026-04-06 07:34:15,212 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=4, status=start
-INFO     2026-04-06 07:36:05,814 barrel.train.core.trainer.trainer Restore session checkpoint rank=4, status=success
-INFO     2026-04-06 07:36:27,876 barrel.train.core.trainer.trainer session_init status=success, rank=4
-INFO     2026-04-06 07:36:27,879 barrel.train.core.trainer.trainer start_training rank=4, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 07:36:27,923 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=4, hostname=msp3-5, worker_pid=2465167, parent_pid=2461889, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:36:27,947 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=4, hostname=msp3-5, worker_pid=2465176, parent_pid=2461889, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:39:43,068 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:42:35,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:45:26,710 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:48:18,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:51:08,587 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:54:00,463 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:56:51,070 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:59:43,648 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:02:34,655 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:05:26,546 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:08:18,653 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:11:11,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:14:03,148 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:16:57,119 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:19:48,732 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:22:39,880 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:25:31,510 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:28:25,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:31:16,666 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:34:09,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:37:01,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:39:53,914 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:42:45,381 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:45:38,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:48:30,988 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:51:23,308 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:54:13,610 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:57:05,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:59:57,948 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:02:49,534 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:05:41,813 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:08:33,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:11:25,220 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:14:17,223 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:17:08,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:20:01,791 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:22:53,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:25:46,358 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:28:40,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:31:33,388 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:34:24,731 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:37:17,501 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:40:08,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:43:00,698 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:45:52,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:48:44,228 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:51:36,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:54:29,349 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:57:20,633 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:00:22,725 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:03:48,884 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:06:52,070 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:09:59,025 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:13:05,840 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:16:11,933 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:19:15,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:22:24,653 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:25:33,536 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:28:42,166 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:31:51,506 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:35:00,438 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:38:08,601 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:41:15,593 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:29:31,565 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     2026-04-06 11:29:31,569 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 11:29:34,896 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:43,630 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:47,749 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     2026-04-06 11:29:51,261 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     2026-04-06 11:29:51,262 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=16366.199999999999, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:51,302 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     2026-04-06 11:29:52,100 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=4, status=start
-INFO     2026-04-06 11:29:52,139 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     2026-04-06 11:29:52,142 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=20573.3
-INFO     2026-04-06 11:29:52,149 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=4, status=start
-INFO     2026-04-06 11:31:39,841 barrel.train.core.trainer.trainer Restore session checkpoint rank=4, status=success
-INFO     2026-04-06 11:32:01,842 barrel.train.core.trainer.trainer session_init status=success, rank=4
-INFO     2026-04-06 11:32:01,844 barrel.train.core.trainer.trainer start_training rank=4, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 11:32:02,007 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=4, hostname=msp3-7, worker_pid=3492779, parent_pid=3489444, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:32:02,034 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=4, hostname=msp3-7, worker_pid=3492797, parent_pid=3489444, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:35:29,335 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:38:35,205 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:41:41,429 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:44:46,850 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:47:52,316 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:50:56,955 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:54:03,030 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:57:07,425 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:00:13,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:03:19,354 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:06:23,698 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:09:29,449 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:12:35,571 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:15:41,421 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:18:46,705 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:21:51,865 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:24:57,748 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:28:01,900 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:31:07,228 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:34:11,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:37:16,741 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:40:21,220 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:43:25,437 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:46:31,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:49:37,508 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:52:43,064 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:55:47,771 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:58:53,487 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:01:58,052 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:05:03,713 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:08:09,156 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:11:13,197 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:14:19,370 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:17:25,221 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:20:30,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:23:35,856 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:26:41,882 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:29:48,082 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:32:52,619 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:35:57,630 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:39:03,246 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:42:10,407 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:45:14,630 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:48:20,969 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:51:25,867 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:54:30,723 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:57:36,004 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:00:41,875 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:03:49,033 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:07:04,677 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:10:39,271 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:13:44,081 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:16:49,285 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:19:53,530 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:22:58,779 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:26:03,764 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:29:07,813 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:32:11,857 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:35:16,308 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:38:22,035 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:41:25,477 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:44:30,531 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:47:36,045 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:50:40,768 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:53:45,036 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:56:50,255 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:59:56,689 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 15:03:02,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:41:05,401 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     2026-04-07 00:41:05,404 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-07 00:41:08,947 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:26,093 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:36,337 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     2026-04-07 00:41:40,717 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     2026-04-07 00:41:40,718 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=31770.600000000002, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:40,759 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     2026-04-07 00:41:41,580 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=4, status=start
-INFO     2026-04-07 00:41:41,621 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     2026-04-07 00:41:41,624 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=36220.5
-INFO     2026-04-07 00:41:41,631 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=4, status=start
-INFO     2026-04-07 00:43:48,421 barrel.train.core.trainer.trainer Restore session checkpoint rank=4, status=success
-INFO     2026-04-07 00:44:10,422 barrel.train.core.trainer.trainer session_init status=success, rank=4
-INFO     2026-04-07 00:44:10,423 barrel.train.core.trainer.trainer start_training rank=4, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-07 00:44:10,500 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=4, hostname=msp3-5, worker_pid=3313512, parent_pid=3310182, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:44:10,529 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=4, hostname=msp3-5, worker_pid=3313543, parent_pid=3310182, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:47:36,030 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:50:38,869 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:53:42,313 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:56:45,084 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:59:47,986 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:02:50,207 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:05:53,526 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:08:56,070 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:11:58,573 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:15:02,204 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:18:05,102 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:21:08,471 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:24:11,701 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:27:15,142 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:30:16,884 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:33:19,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:36:22,455 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:39:25,143 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:42:29,625 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:45:32,643 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:48:36,837 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:51:39,505 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:54:42,914 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:57:46,408 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:00:50,171 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:03:54,280 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:06:57,975 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:10:02,505 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:13:05,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:16:10,143 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:19:14,256 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:22:17,144 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:25:21,415 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:28:24,737 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:31:29,708 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:34:33,435 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:37:37,740 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:40:41,389 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:43:44,852 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:46:48,383 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:49:52,441 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:52:56,832 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:56:01,912 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:59:07,336 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:02:11,725 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:05:16,728 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:08:20,110 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:11:23,978 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:14:28,687 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:17:51,502 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:18:34,222 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=4
+version https://git-lfs.github.com/spec/v1
+oid sha256:00983e38d20ab3f03bff50fd7d395420a06294051a5e90ce02b7e6ac04513f4f
+size 64032

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/session_rank_5.log

@@ -1,526 +1,3 @@
-INFO     2026-04-05 07:47:39,930 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     2026-04-05 07:47:39,931 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-05 07:47:41,994 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge
-INFO     2026-04-05 07:48:03,608 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-05 07:48:07,878 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-05 07:48:07,878 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=25884.3, dataset_name=bridge
-INFO     2026-04-05 07:48:07,919 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge, size_before=1466050, size_after=183239, rank=5
-INFO     2026-04-05 07:48:08,795 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge rank=5, status=start
-INFO     2026-04-05 07:48:08,835 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge dataframe_size=183239, num_data_pointers=165383, pct=90.26%, rank=5, status=success
-INFO     2026-04-05 07:48:08,837 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=28905.6
-INFO     2026-04-05 07:48:34,458 barrel.train.core.trainer.trainer session_init status=success, rank=5
-INFO     2026-04-05 07:48:34,460 barrel.train.core.trainer.trainer start_training rank=5, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-05 07:48:34,514 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=5, hostname=msp3-2, worker_pid=3875747, parent_pid=3872894, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:48:34,535 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=5, hostname=msp3-2, worker_pid=3875754, parent_pid=3872894, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:51:52,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:54:44,997 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:57:35,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:00:26,862 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:03:18,033 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:06:09,619 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:09:01,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:11:53,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:14:44,578 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:17:37,375 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:20:30,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:23:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:26:15,038 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:29:07,502 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:31:59,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:34:50,984 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:37:43,456 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:40:35,332 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:43:28,467 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:46:21,132 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:49:13,209 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:52:04,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:54:56,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:57:48,497 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:00:40,238 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:03:32,325 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:06:23,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:09:15,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:12:08,116 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:14:59,227 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:17:51,080 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:20:42,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:23:34,083 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:26:26,064 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:29:18,322 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:32:09,487 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:35:00,441 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:37:52,631 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:40:43,428 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:43:34,586 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:46:26,626 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:49:17,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:52:06,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:54:57,889 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:57:48,894 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:00:41,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:03:33,426 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:06:24,800 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:09:17,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:12:18,800 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:15:33,483 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:18:24,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:21:17,302 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:24:08,917 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:27:00,005 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:29:51,958 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:32:42,383 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:35:34,045 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:38:25,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:41:18,350 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:44:08,990 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:47:00,701 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:49:51,287 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:52:43,485 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:55:35,867 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:58:26,949 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:01:18,366 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:04:10,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:07:02,461 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:09:53,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:12:45,451 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:15:36,492 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:18:28,400 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:21:20,006 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:24:11,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:27:02,198 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:29:53,736 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:32:44,011 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:35:35,032 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:38:25,486 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:41:15,315 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:44:05,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:46:56,617 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:49:47,469 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:52:38,563 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:55:30,289 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:58:21,027 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:01:13,424 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:04:04,015 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:06:55,196 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:09:46,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:12:37,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:15:28,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:18:19,903 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:21:11,565 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:24:02,399 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:26:54,834 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:29:45,333 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:32:36,286 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:35:36,962 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:38:50,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:41:41,343 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:44:32,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:47:23,459 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:50:13,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:53:06,274 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:55:56,979 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:58:48,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:01:39,887 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:04:31,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:07:22,319 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:10:15,398 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:13:06,519 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:15:57,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:18:49,648 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:21:40,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:24:31,281 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:27:22,709 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:30:13,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:33:06,043 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:35:57,606 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:38:47,618 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:41:40,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:44:31,526 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:47:23,254 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:50:14,660 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:53:06,896 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:55:58,107 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:58:50,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:01:41,282 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:04:32,278 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:07:24,300 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:10:15,785 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:13:07,365 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:15:58,762 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:18:49,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:21:40,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:24:31,803 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:27:22,607 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:30:14,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:33:06,049 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:35:56,094 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:38:48,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:41:40,352 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:44:32,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:47:25,214 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:50:15,915 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:53:07,347 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:56:00,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:02,157 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:35,376 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=5
-INFO     2026-04-06 07:33:53,199 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     2026-04-06 07:33:53,202 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 07:33:56,070 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:05,170 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:09,978 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     2026-04-06 07:34:13,971 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     2026-04-06 07:34:13,971 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=17900.7, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:14,010 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     2026-04-06 07:34:14,982 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=5, status=start
-INFO     2026-04-06 07:34:15,021 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     2026-04-06 07:34:15,022 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=21820.3
-INFO     2026-04-06 07:34:15,027 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=5, status=start
-INFO     2026-04-06 07:36:05,815 barrel.train.core.trainer.trainer Restore session checkpoint rank=5, status=success
-INFO     2026-04-06 07:36:27,876 barrel.train.core.trainer.trainer session_init status=success, rank=5
-INFO     2026-04-06 07:36:27,879 barrel.train.core.trainer.trainer start_training rank=5, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 07:36:27,923 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=5, hostname=msp3-5, worker_pid=2465166, parent_pid=2461890, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:36:27,945 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=5, hostname=msp3-5, worker_pid=2465172, parent_pid=2461890, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:39:43,068 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:42:35,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:45:26,709 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:48:18,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:51:08,588 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:54:00,463 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:56:51,070 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:59:43,648 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:02:34,656 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:05:26,546 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:08:18,653 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:11:11,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:14:03,148 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:16:57,119 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:19:48,732 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:22:39,880 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:25:31,510 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:28:25,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:31:16,666 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:34:09,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:37:01,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:39:53,914 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:42:45,381 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:45:38,330 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:48:30,989 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:51:23,308 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:54:13,610 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:57:05,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:59:57,948 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:02:49,534 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:05:41,813 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:08:33,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:11:25,220 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:14:17,223 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:17:08,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:20:01,791 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:22:53,270 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:25:46,358 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:28:40,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:31:33,388 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:34:24,732 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:37:17,501 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:40:08,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:43:00,698 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:45:52,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:48:44,228 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:51:36,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:54:29,349 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:57:20,633 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:00:22,924 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:03:48,881 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:06:52,069 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:09:59,021 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:13:05,836 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:16:11,928 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:19:15,972 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:22:24,650 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:25:33,535 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:28:42,167 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:31:51,504 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:35:00,432 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:38:08,599 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:41:15,591 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:29:31,543 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     2026-04-06 11:29:31,546 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 11:29:34,908 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:43,404 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:47,554 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     2026-04-06 11:29:51,073 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     2026-04-06 11:29:51,073 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=16165.0, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:51,112 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     2026-04-06 11:29:51,908 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=5, status=start
-INFO     2026-04-06 11:29:51,947 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     2026-04-06 11:29:51,949 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=20403.0
-INFO     2026-04-06 11:29:51,956 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=5, status=start
-INFO     2026-04-06 11:31:39,838 barrel.train.core.trainer.trainer Restore session checkpoint rank=5, status=success
-INFO     2026-04-06 11:32:01,842 barrel.train.core.trainer.trainer session_init status=success, rank=5
-INFO     2026-04-06 11:32:01,844 barrel.train.core.trainer.trainer start_training rank=5, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 11:32:02,002 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=5, hostname=msp3-7, worker_pid=3492775, parent_pid=3489445, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:32:02,028 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=5, hostname=msp3-7, worker_pid=3492785, parent_pid=3489445, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:35:29,332 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:38:35,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:41:41,427 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:44:46,849 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:47:52,317 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:50:56,956 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:54:03,028 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:57:07,422 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:00:13,666 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:03:19,351 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:06:23,696 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:09:29,448 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:12:35,570 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:15:41,418 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:18:46,706 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:21:51,865 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:24:57,745 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:28:01,897 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:31:07,223 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:34:11,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:37:16,739 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:40:21,217 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:43:25,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:46:31,794 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:49:37,506 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:52:43,062 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:55:47,772 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:58:53,487 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:01:58,050 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:05:03,714 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:08:09,158 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:11:13,197 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:14:19,366 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:17:25,227 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:20:30,201 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:23:35,857 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:26:41,883 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:29:48,084 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:32:52,617 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:35:57,626 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:39:03,081 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:42:10,403 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:45:14,631 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:48:20,973 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:51:25,864 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:54:30,720 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:57:36,003 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:00:41,877 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:03:49,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:07:04,771 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:10:39,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:13:44,081 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:16:49,284 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:19:53,530 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:22:58,783 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:26:03,761 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:29:07,809 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:32:11,852 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:35:16,304 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:38:22,035 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:41:25,476 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:44:30,532 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:47:36,043 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:50:40,768 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:53:45,052 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:56:50,253 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:59:56,687 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 15:03:02,324 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:41:05,434 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     2026-04-07 00:41:05,435 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-07 00:41:08,948 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:26,272 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:36,471 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     2026-04-07 00:41:40,790 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     2026-04-07 00:41:40,791 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=31842.4, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:40,833 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     2026-04-07 00:41:41,660 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=5, status=start
-INFO     2026-04-07 00:41:41,700 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     2026-04-07 00:41:41,701 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=36265.700000000004
-INFO     2026-04-07 00:41:41,706 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=5, status=start
-INFO     2026-04-07 00:43:48,408 barrel.train.core.trainer.trainer Restore session checkpoint rank=5, status=success
-INFO     2026-04-07 00:44:10,422 barrel.train.core.trainer.trainer session_init status=success, rank=5
-INFO     2026-04-07 00:44:10,423 barrel.train.core.trainer.trainer start_training rank=5, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-07 00:44:10,495 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=5, hostname=msp3-5, worker_pid=3313513, parent_pid=3310183, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:44:10,551 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=5, hostname=msp3-5, worker_pid=3313548, parent_pid=3310183, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:47:36,030 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:50:38,867 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:53:42,314 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:56:45,084 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:59:47,990 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:02:50,206 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:05:53,527 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:08:56,071 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:11:58,572 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:15:02,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:18:05,101 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:21:08,472 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:24:11,700 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:27:15,143 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:30:16,886 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:33:19,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:36:22,454 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:39:25,144 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:42:29,625 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:45:32,634 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:48:36,836 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:51:39,520 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:54:42,912 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:57:46,406 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:00:50,170 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:03:54,280 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:06:57,975 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:10:02,505 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:13:05,977 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:16:10,140 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:19:14,248 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:22:17,141 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:25:21,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:28:24,737 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:31:29,707 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:34:33,437 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:37:37,742 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:40:41,391 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:43:44,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:46:48,387 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:49:52,443 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:52:56,836 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:56:01,912 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:59:07,348 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:02:11,728 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:05:16,730 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:08:20,102 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:11:23,980 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:14:28,690 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:17:51,392 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:18:34,222 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=5
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c185088a0665e7c6ae315b56822047d42ed5c9450b199d13cb4ebed348ff088
+size 64010

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/session_rank_6.log

@@ -1,526 +1,3 @@
-INFO     2026-04-05 07:47:39,857 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     2026-04-05 07:47:39,858 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-05 07:47:42,026 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge
-INFO     2026-04-05 07:48:07,528 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-05 07:48:11,830 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-05 07:48:11,830 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=29804.1, dataset_name=bridge
-INFO     2026-04-05 07:48:11,870 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge, size_before=1466050, size_after=183295, rank=6
-INFO     2026-04-05 07:48:12,722 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge rank=6, status=start
-INFO     2026-04-05 07:48:12,763 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge dataframe_size=183295, num_data_pointers=164055, pct=89.50%, rank=6, status=success
-INFO     2026-04-05 07:48:12,764 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=32905.700000000004
-INFO     2026-04-05 07:48:34,459 barrel.train.core.trainer.trainer session_init status=success, rank=6
-INFO     2026-04-05 07:48:34,460 barrel.train.core.trainer.trainer start_training rank=6, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-05 07:48:34,519 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=6, hostname=msp3-2, worker_pid=3875750, parent_pid=3872895, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:48:34,546 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=6, hostname=msp3-2, worker_pid=3875764, parent_pid=3872895, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:51:52,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:54:44,997 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:57:35,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:00:26,862 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:03:18,033 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:06:09,619 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:09:01,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:11:53,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:14:44,578 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:17:37,375 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:20:30,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:23:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:26:15,038 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:29:07,502 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:31:59,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:34:50,984 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:37:43,456 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:40:35,332 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:43:28,467 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:46:21,132 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:49:13,209 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:52:04,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:54:56,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:57:48,497 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:00:40,238 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:03:32,325 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:06:23,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:09:15,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:12:08,117 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:14:59,227 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:17:51,080 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:20:42,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:23:34,083 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:26:26,064 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:29:18,322 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:32:09,487 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:35:00,441 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:37:52,631 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:40:43,428 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:43:34,586 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:46:26,626 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:49:17,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:52:06,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:54:57,889 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:57:48,894 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:00:41,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:03:33,426 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:06:24,800 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:09:17,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:12:18,802 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:15:33,483 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:18:24,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:21:17,302 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:24:08,917 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:27:00,005 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:29:51,959 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:32:42,383 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:35:34,045 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:38:25,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:41:18,350 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:44:08,990 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:47:00,701 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:49:51,287 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:52:43,485 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:55:35,867 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:58:26,949 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:01:18,366 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:04:10,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:07:02,461 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:09:53,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:12:45,451 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:15:36,492 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:18:28,400 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:21:20,006 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:24:11,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:27:02,198 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:29:53,736 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:32:44,011 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:35:35,032 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:38:25,486 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:41:15,315 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:44:05,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:46:56,617 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:49:47,469 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:52:38,563 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:55:30,290 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:58:21,027 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:01:13,424 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:04:04,015 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:06:55,195 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:09:46,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:12:37,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:15:28,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:18:19,903 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:21:11,565 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:24:02,399 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:26:54,834 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:29:45,333 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:32:36,286 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:35:36,928 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:38:50,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:41:41,343 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:44:32,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:47:23,459 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:50:13,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:53:06,274 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:55:56,979 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:58:48,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:01:39,887 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:04:31,406 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:07:22,319 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:10:15,398 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:13:06,519 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:15:57,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:18:49,647 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:21:40,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:24:31,281 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:27:22,709 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:30:13,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:33:06,043 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:35:57,606 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:38:47,618 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:41:40,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:44:31,526 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:47:23,254 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:50:14,660 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:53:06,896 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:55:58,107 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:58:50,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:01:41,282 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:04:32,278 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:07:24,300 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:10:15,786 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:13:07,365 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:15:58,762 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:18:49,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:21:40,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:24:31,803 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:27:22,607 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:30:14,380 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:33:06,049 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:35:56,094 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:38:48,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:41:40,352 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:44:32,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:47:25,215 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:50:15,915 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:53:07,347 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:56:00,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:02,280 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:35,377 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=6
-INFO     2026-04-06 07:33:53,201 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     2026-04-06 07:33:53,203 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 07:33:56,239 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:13,865 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:24,372 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     2026-04-06 07:34:28,401 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     2026-04-06 07:34:28,401 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=32162.199999999997, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:28,444 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     2026-04-06 07:34:29,334 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=6, status=start
-INFO     2026-04-06 07:34:29,376 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     2026-04-06 07:34:29,378 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=36174.799999999996
-INFO     2026-04-06 07:34:29,385 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=6, status=start
-INFO     2026-04-06 07:36:05,852 barrel.train.core.trainer.trainer Restore session checkpoint rank=6, status=success
-INFO     2026-04-06 07:36:27,877 barrel.train.core.trainer.trainer session_init status=success, rank=6
-INFO     2026-04-06 07:36:27,879 barrel.train.core.trainer.trainer start_training rank=6, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 07:36:27,950 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=6, hostname=msp3-5, worker_pid=2465175, parent_pid=2461891, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:36:27,996 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=6, hostname=msp3-5, worker_pid=2465219, parent_pid=2461891, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:39:43,068 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:42:35,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:45:26,710 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:48:18,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:51:08,588 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:54:00,463 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:56:51,070 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:59:43,648 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:02:34,655 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:05:26,546 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:08:18,653 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:11:11,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:14:03,148 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:16:57,119 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:19:48,732 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:22:39,880 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:25:31,510 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:28:25,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:31:16,666 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:34:09,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:37:01,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:39:53,914 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:42:45,381 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:45:38,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:48:30,988 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:51:23,308 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:54:13,610 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:57:05,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:59:57,948 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:02:49,534 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:05:41,813 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:08:33,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:11:25,220 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:14:17,223 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:17:08,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:20:01,792 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:22:53,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:25:46,358 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:28:40,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:31:33,388 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:34:24,731 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:37:17,501 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:40:08,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:43:00,698 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:45:52,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:48:44,228 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:51:36,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:54:29,349 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:57:20,633 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:00:22,907 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:03:48,884 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:06:52,105 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:09:59,029 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:13:05,841 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:16:11,935 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:19:15,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:22:24,669 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:25:33,552 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:28:42,181 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:31:51,520 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:35:00,447 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:38:08,612 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:41:15,603 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:29:31,542 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     2026-04-06 11:29:31,545 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 11:29:34,960 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:43,764 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:48,060 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     2026-04-06 11:29:51,777 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     2026-04-06 11:29:51,777 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=16817.3, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:51,818 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     2026-04-06 11:29:52,637 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=6, status=start
-INFO     2026-04-06 11:29:52,678 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     2026-04-06 11:29:52,679 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=21134.0
-INFO     2026-04-06 11:29:52,684 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=6, status=start
-INFO     2026-04-06 11:31:39,839 barrel.train.core.trainer.trainer Restore session checkpoint rank=6, status=success
-INFO     2026-04-06 11:32:01,842 barrel.train.core.trainer.trainer session_init status=success, rank=6
-INFO     2026-04-06 11:32:01,844 barrel.train.core.trainer.trainer start_training rank=6, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 11:32:02,000 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=6, hostname=msp3-7, worker_pid=3492774, parent_pid=3489446, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:32:02,023 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=6, hostname=msp3-7, worker_pid=3492782, parent_pid=3489446, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:35:29,333 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:38:35,206 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:41:41,429 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:44:46,850 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:47:52,316 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:50:56,956 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:54:03,028 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:57:07,422 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:00:13,667 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:03:19,351 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:06:23,697 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:09:29,450 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:12:35,575 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:15:41,418 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:18:46,706 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:21:51,864 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:24:57,746 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:28:01,899 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:31:07,227 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:34:11,867 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:37:16,741 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:40:21,219 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:43:25,435 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:46:31,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:49:37,510 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:52:43,063 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:55:47,774 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:58:53,488 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:01:58,055 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:05:03,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:08:09,159 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:11:13,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:14:19,369 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:17:25,230 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:20:30,201 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:23:35,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:26:41,884 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:29:48,087 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:32:52,618 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:35:57,627 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:39:03,083 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:42:10,406 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:45:14,631 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:48:20,970 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:51:25,882 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:54:30,723 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:57:36,006 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:00:41,877 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:03:49,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:07:04,670 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:10:39,272 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:13:44,086 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:16:49,287 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:19:53,531 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:22:58,790 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:26:03,764 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:29:07,813 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:32:11,856 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:35:16,308 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:38:22,037 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:41:25,477 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:44:30,530 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:47:36,056 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:50:40,770 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:53:45,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:56:50,256 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:59:56,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 15:03:02,332 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:41:05,408 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     2026-04-07 00:41:05,410 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-07 00:41:08,936 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:26,311 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:36,523 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     2026-04-07 00:41:40,869 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     2026-04-07 00:41:40,869 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=31933.6, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:40,910 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     2026-04-07 00:41:41,765 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=6, status=start
-INFO     2026-04-07 00:41:41,805 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     2026-04-07 00:41:41,806 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=36396.2
-INFO     2026-04-07 00:41:41,811 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=6, status=start
-INFO     2026-04-07 00:43:48,407 barrel.train.core.trainer.trainer Restore session checkpoint rank=6, status=success
-INFO     2026-04-07 00:44:10,422 barrel.train.core.trainer.trainer session_init status=success, rank=6
-INFO     2026-04-07 00:44:10,423 barrel.train.core.trainer.trainer start_training rank=6, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-07 00:44:10,504 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=6, hostname=msp3-5, worker_pid=3313522, parent_pid=3310184, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:44:10,548 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=6, hostname=msp3-5, worker_pid=3313561, parent_pid=3310184, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:47:36,030 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:50:38,865 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:53:42,322 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:56:45,084 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:59:47,984 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:02:50,208 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:05:53,527 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:08:56,070 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:11:58,574 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:15:02,200 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:18:05,102 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:21:08,470 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:24:11,699 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:27:15,143 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:30:16,883 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:33:19,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:36:22,453 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:39:25,148 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:42:29,624 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:45:32,635 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:48:36,848 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:51:39,488 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:54:42,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:57:46,407 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:00:50,171 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:03:54,281 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:06:57,975 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:10:02,506 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:13:05,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:16:10,139 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:19:14,241 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:22:17,153 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:25:21,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:28:24,735 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:31:29,705 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:34:33,433 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:37:37,739 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:40:41,388 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:43:44,850 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:46:48,383 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:49:52,439 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:52:56,832 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:56:01,908 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:59:07,330 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:02:11,724 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:05:16,730 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:08:20,116 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:11:23,981 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:14:28,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:17:51,497 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:18:34,222 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=6
+version https://git-lfs.github.com/spec/v1
+oid sha256:28436bacbb6ea3b7e483252210135f9d5c163b54976a0a20ff7e27b3f6b99a27
+size 64032

sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/session_rank_7.log

@@ -1,526 +1,3 @@
-INFO     2026-04-05 07:47:39,914 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     2026-04-05 07:47:39,915 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-05 07:47:42,038 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge
-INFO     2026-04-05 07:48:03,856 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-05 07:48:08,037 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-05 07:48:08,037 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=25998.7, dataset_name=bridge
-INFO     2026-04-05 07:48:08,077 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge, size_before=1466050, size_after=183242, rank=7
-INFO     2026-04-05 07:48:08,930 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge rank=7, status=start
-INFO     2026-04-05 07:48:08,969 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge dataframe_size=183242, num_data_pointers=160418, pct=87.54%, rank=7, status=success
-INFO     2026-04-05 07:48:08,970 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=29055.3
-INFO     2026-04-05 07:48:34,458 barrel.train.core.trainer.trainer session_init status=success, rank=7
-INFO     2026-04-05 07:48:34,460 barrel.train.core.trainer.trainer start_training rank=7, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-05 07:48:34,515 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=7, hostname=msp3-2, worker_pid=3875748, parent_pid=3872896, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:48:34,543 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=7, hostname=msp3-2, worker_pid=3875758, parent_pid=3872896, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-05 07:51:52,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:54:44,997 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 07:57:35,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:00:26,862 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:03:18,033 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:06:09,619 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:09:01,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:11:53,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:14:44,578 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:17:37,375 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:20:30,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:23:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:26:15,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:29:07,502 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:31:59,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:34:50,984 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:37:43,456 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:40:35,332 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:43:28,467 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:46:21,132 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:49:13,210 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:52:04,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:54:56,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 08:57:48,497 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:00:40,238 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:03:32,325 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:06:23,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:09:15,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:12:08,117 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:14:59,227 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:17:51,080 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:20:42,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:23:34,083 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:26:26,064 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:29:18,322 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:32:09,487 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:35:00,441 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:37:52,631 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:40:43,428 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:43:34,586 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:46:26,626 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:49:17,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:52:06,854 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:54:57,889 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 09:57:48,894 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:00:41,039 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:03:33,426 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:06:24,800 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:09:17,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:12:18,804 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:15:33,483 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:18:24,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:21:17,302 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:24:08,917 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:27:00,005 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:29:51,959 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:32:42,383 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:35:34,045 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:38:25,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:41:18,350 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:44:08,990 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:47:00,701 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:49:51,287 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:52:43,485 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:55:35,867 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 10:58:26,949 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:01:18,366 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:04:10,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:07:02,461 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:09:53,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:12:45,451 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:15:36,492 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:18:28,400 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:21:20,006 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:24:11,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:27:02,198 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:29:53,736 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:32:44,011 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:35:35,032 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:38:25,486 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:41:15,315 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:44:05,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:46:56,617 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:49:47,469 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:52:38,563 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:55:30,289 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 11:58:21,027 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:01:13,424 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:04:04,015 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:06:55,196 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:09:46,718 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:12:37,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:15:28,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:18:19,903 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:21:11,565 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:24:02,399 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:26:54,834 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:29:45,333 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:32:36,286 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:35:36,951 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:38:50,026 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:41:41,343 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:44:32,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:47:23,459 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:50:13,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:53:06,274 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:55:56,980 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 12:58:48,716 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:01:39,887 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:04:31,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:07:22,319 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:10:15,398 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:13:06,519 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:15:57,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:18:49,647 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:21:40,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:24:31,281 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:27:22,709 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:30:13,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:33:06,043 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:35:57,606 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:38:47,618 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:41:40,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:44:31,526 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:47:23,254 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:50:14,660 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:53:06,896 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:55:58,107 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 13:58:50,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:01:41,282 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:04:32,278 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:07:24,300 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:10:15,785 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:13:07,365 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:15:58,762 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:18:49,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:21:40,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:24:31,803 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:27:22,607 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:30:14,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:33:06,049 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:35:56,094 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:38:48,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:41:40,352 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:44:32,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:47:25,215 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:50:15,915 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:53:07,347 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:56:00,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:02,313 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-05 14:59:35,376 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=7
-INFO     2026-04-06 07:33:53,243 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     2026-04-06 07:33:53,246 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 07:33:56,074 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:10,300 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:17,978 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     2026-04-06 07:34:22,270 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     2026-04-06 07:34:22,270 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=26196.8, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 07:34:22,313 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     2026-04-06 07:34:23,188 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=7, status=start
-INFO     2026-04-06 07:34:23,228 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     2026-04-06 07:34:23,230 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=29983.399999999998
-INFO     2026-04-06 07:34:23,236 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=7, status=start
-INFO     2026-04-06 07:36:05,844 barrel.train.core.trainer.trainer Restore session checkpoint rank=7, status=success
-INFO     2026-04-06 07:36:27,876 barrel.train.core.trainer.trainer session_init status=success, rank=7
-INFO     2026-04-06 07:36:27,879 barrel.train.core.trainer.trainer start_training rank=7, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 07:36:27,946 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=7, hostname=msp3-5, worker_pid=2465171, parent_pid=2461892, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:36:27,979 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=7, hostname=msp3-5, worker_pid=2465202, parent_pid=2461892, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 07:39:43,068 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:42:35,329 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:45:26,709 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:48:18,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:51:08,588 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:54:00,463 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:56:51,070 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 07:59:43,648 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:02:34,655 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:05:26,546 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:08:18,653 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:11:11,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:14:03,148 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:16:57,119 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:19:48,732 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:22:39,880 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:25:31,510 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:28:25,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:31:16,666 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:34:09,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:37:01,040 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:39:53,914 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:42:45,381 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:45:38,330 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:48:30,988 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:51:23,308 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:54:13,610 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:57:05,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 08:59:57,948 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:02:49,534 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:05:41,813 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:08:33,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:11:25,220 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:14:17,223 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:17:08,793 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:20:01,791 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:22:53,269 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:25:46,358 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:28:40,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:31:33,388 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:34:24,732 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:37:17,501 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:40:08,460 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:43:00,698 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:45:52,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:48:44,228 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:51:36,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:54:29,349 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 09:57:20,633 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:00:22,925 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:03:48,883 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:06:52,079 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:09:59,033 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:13:05,838 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:16:11,930 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:19:15,974 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:22:24,663 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:25:33,547 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:28:42,171 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:31:51,514 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:35:00,444 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:38:08,605 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 10:41:15,596 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:29:31,530 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     2026-04-06 11:29:31,533 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-06 11:29:34,898 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:43,471 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:47,725 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     2026-04-06 11:29:51,391 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     2026-04-06 11:29:51,391 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=16493.5, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-06 11:29:51,433 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     2026-04-06 11:29:52,254 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=7, status=start
-INFO     2026-04-06 11:29:52,293 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     2026-04-06 11:29:52,295 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=20761.7
-INFO     2026-04-06 11:29:52,300 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=7, status=start
-INFO     2026-04-06 11:31:39,840 barrel.train.core.trainer.trainer Restore session checkpoint rank=7, status=success
-INFO     2026-04-06 11:32:01,842 barrel.train.core.trainer.trainer session_init status=success, rank=7
-INFO     2026-04-06 11:32:01,844 barrel.train.core.trainer.trainer start_training rank=7, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-06 11:32:02,002 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=7, hostname=msp3-7, worker_pid=3492776, parent_pid=3489447, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:32:02,028 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=7, hostname=msp3-7, worker_pid=3492784, parent_pid=3489447, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-06 11:35:29,327 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:38:35,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:41:41,424 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:44:46,845 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:47:52,312 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:50:56,955 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:54:03,038 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 11:57:07,421 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:00:13,663 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:03:19,349 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:06:23,693 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:09:29,444 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:12:35,568 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:15:41,415 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:18:46,702 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:21:51,861 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:24:57,746 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:28:01,896 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:31:07,226 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:34:11,865 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:37:16,746 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:40:21,216 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:43:25,432 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:46:31,790 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:49:37,506 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:52:43,059 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:55:47,770 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 12:58:53,484 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:01:58,050 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:05:03,711 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:08:09,154 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:11:13,196 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:14:19,368 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:17:25,217 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:20:30,196 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:23:35,853 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:26:41,878 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:29:48,080 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:32:52,614 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:35:57,628 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:39:03,078 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:42:10,402 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:45:14,626 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:48:20,996 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:51:25,869 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:54:30,720 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 13:57:36,002 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:00:41,873 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:03:49,079 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:07:04,763 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:10:39,266 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:13:44,078 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:16:49,282 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:19:53,530 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:22:58,776 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:26:03,758 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:29:07,808 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:32:11,851 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:35:16,308 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:38:22,033 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:41:25,485 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:44:30,526 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:47:36,041 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:50:40,763 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:53:45,032 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:56:50,250 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 14:59:56,684 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-06 15:03:02,320 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:41:05,444 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     2026-04-07 00:41:05,448 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-07 00:41:08,589 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:18,091 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:23,206 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     2026-04-07 00:41:27,430 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     2026-04-07 00:41:27,430 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=18840.6, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-07 00:41:27,471 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     2026-04-07 00:41:28,495 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=7, status=start
-INFO     2026-04-07 00:41:28,534 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     2026-04-07 00:41:28,536 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=23088.3
-INFO     2026-04-07 00:41:28,541 barrel.train.core.trainer.trainer Restore session checkpoint checkpoint_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1/checkpoints/checkpoint-latest.pt, rank=7, status=start
-INFO     2026-04-07 00:43:48,421 barrel.train.core.trainer.trainer Restore session checkpoint rank=7, status=success
-INFO     2026-04-07 00:44:10,422 barrel.train.core.trainer.trainer session_init status=success, rank=7
-INFO     2026-04-07 00:44:10,423 barrel.train.core.trainer.trainer start_training rank=7, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1
-INFO     2026-04-07 00:44:10,488 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=7, hostname=msp3-5, worker_pid=3313511, parent_pid=3310185, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:44:10,525 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=7, hostname=msp3-5, worker_pid=3313538, parent_pid=3310185, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-07 00:47:36,031 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:50:38,874 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:53:42,316 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:56:45,089 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 00:59:47,992 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:02:50,213 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:05:53,531 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:08:56,073 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:11:58,579 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:15:02,216 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:18:05,106 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:21:08,476 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:24:11,705 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:27:15,146 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:30:16,888 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:33:19,438 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:36:22,459 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:39:25,147 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:42:29,626 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:45:32,639 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:48:36,841 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:51:39,495 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:54:42,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 01:57:46,413 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:00:50,175 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:03:54,285 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:06:57,978 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:10:02,509 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:13:05,977 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:16:10,143 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:19:14,244 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:22:17,143 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:25:21,418 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:28:24,740 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:31:29,710 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:34:33,439 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:37:37,745 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:40:41,393 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:43:44,857 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:46:48,390 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:49:52,448 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:52:56,836 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:56:01,914 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 02:59:07,333 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:02:11,728 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:05:16,730 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:08:20,104 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:11:23,983 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:14:28,690 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:17:51,497 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-07 03:18:34,222 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_05_07_47_08_msp3-2_petko_petkov_bridge_curriculum_phase1, rank=7
+version https://git-lfs.github.com/spec/v1
+oid sha256:d91786f01dd1b0812225c748c18bb066833412534bd95d24015d446350ba4ae4
+size 64010