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Browse files- .gitattributes +1 -0
- checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/config.json +96 -0
- checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/model.safetensors +3 -0
- checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/policy_postprocessor.json +32 -0
- checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
- checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/policy_preprocessor.json +56 -0
- checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
- checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/train_config.json +306 -0
- checkpoints/dino_v3_235012/checkpoints/100000/training_state/optimizer_param_groups.json +397 -0
- checkpoints/dino_v3_235012/checkpoints/100000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/dino_v3_235012/checkpoints/100000/training_state/rng_state.safetensors +3 -0
- checkpoints/dino_v3_235012/checkpoints/100000/training_state/scheduler_state.json +15 -0
- checkpoints/dino_v3_235012/checkpoints/100000/training_state/training_step.json +3 -0
- checkpoints/dino_v3_235012/wandb/debug-internal.log +24 -0
- checkpoints/dino_v3_235012/wandb/debug.log +19 -0
- checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/files/output.log +0 -0
- checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/files/requirements.txt +113 -0
- checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/files/wandb-metadata.json +78 -0
- checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/logs/debug-core.log +7 -0
- checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/logs/debug-internal.log +24 -0
- checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/logs/debug.log +19 -0
- checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/run-pu35iy7k.wandb +3 -0
.gitattributes
CHANGED
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@@ -44,3 +44,4 @@ checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset_dat
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checkpots/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset_config_11H47/wandb/run-20260520_100113-rnm5uhtp/run-rnm5uhtp.wandb filter=lfs diff=lfs merge=lfs -text
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checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset_config_11H47/wandb/run-20260520_100113-rnm5uhtp/run-rnm5uhtp.wandb filter=lfs diff=lfs merge=lfs -text
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checkpoints/dino_v2_20260520/wandb/run-20260520_000553-6chr8b99/run-6chr8b99.wandb filter=lfs diff=lfs merge=lfs -text
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checkpots/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset_config_11H47/wandb/run-20260520_100113-rnm5uhtp/run-rnm5uhtp.wandb filter=lfs diff=lfs merge=lfs -text
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checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset_config_11H47/wandb/run-20260520_100113-rnm5uhtp/run-rnm5uhtp.wandb filter=lfs diff=lfs merge=lfs -text
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checkpoints/dino_v2_20260520/wandb/run-20260520_000553-6chr8b99/run-6chr8b99.wandb filter=lfs diff=lfs merge=lfs -text
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checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/run-pu35iy7k.wandb filter=lfs diff=lfs merge=lfs -text
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checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/config.json
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checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/model.safetensors
ADDED
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size 1199647464
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checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/policy_postprocessor.json
ADDED
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@@ -0,0 +1,32 @@
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checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
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checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/policy_preprocessor.json
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checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
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checkpoints/dino_v3_235012/checkpoints/100000/pretrained_model/train_config.json
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| 1 |
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|
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|
checkpoints/dino_v3_235012/checkpoints/100000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,397 @@
|
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|
|
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|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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| 1 |
+
[
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| 2 |
+
{
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| 3 |
+
"lr": 8.54594455744191e-05,
|
| 4 |
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| 5 |
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0.95,
|
| 6 |
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0.999
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| 7 |
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],
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| 8 |
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| 9 |
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"weight_decay": 1e-06,
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| 10 |
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| 11 |
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| 12 |
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"foreach": null,
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| 13 |
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"capturable": false,
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| 14 |
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"differentiable": false,
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| 15 |
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"fused": null,
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| 16 |
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"decoupled_weight_decay": false,
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| 17 |
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"initial_lr": 0.0001,
|
| 18 |
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| 19 |
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
lerobot==0.5.2
|
| 2 |
+
Werkzeug==3.1.8
|
| 3 |
+
nvidia-cufft-cu12==11.3.3.83
|
| 4 |
+
sentry-sdk==2.59.0
|
| 5 |
+
cmake==4.1.3
|
| 6 |
+
PyYAML==6.0.3
|
| 7 |
+
httpcore==1.0.9
|
| 8 |
+
dill==0.4.1
|
| 9 |
+
pydantic_core==2.46.3
|
| 10 |
+
h11==0.16.0
|
| 11 |
+
typing-inspect==0.9.0
|
| 12 |
+
pyyaml-include==1.4.1
|
| 13 |
+
multidict==6.7.1
|
| 14 |
+
draccus==0.10.0
|
| 15 |
+
Pygments==2.20.0
|
| 16 |
+
regex==2026.4.4
|
| 17 |
+
propcache==0.4.1
|
| 18 |
+
nvidia-cusparselt-cu12==0.7.1
|
| 19 |
+
anyio==4.13.0
|
| 20 |
+
einops==0.8.2
|
| 21 |
+
nvidia-nvshmem-cu12==3.4.5
|
| 22 |
+
cloudpickle==3.1.2
|
| 23 |
+
torchcodec==0.10.0
|
| 24 |
+
annotated-types==0.7.0
|
| 25 |
+
wandb==0.24.2
|
| 26 |
+
networkx==3.6.1
|
| 27 |
+
click==8.3.3
|
| 28 |
+
mypy_extensions==1.1.0
|
| 29 |
+
Jinja2==3.1.6
|
| 30 |
+
nvidia-curand-cu12==10.3.9.90
|
| 31 |
+
nvidia-nccl-cu12==2.27.5
|
| 32 |
+
typer==0.25.1
|
| 33 |
+
cuda-pathfinder==1.5.4
|
| 34 |
+
protobuf==6.31.1
|
| 35 |
+
filelock==3.29.0
|
| 36 |
+
gitdb==4.0.12
|
| 37 |
+
sympy==1.14.0
|
| 38 |
+
pillow==12.2.0
|
| 39 |
+
mpmath==1.3.0
|
| 40 |
+
opencv-python-headless==4.13.0.92
|
| 41 |
+
toml==0.10.2
|
| 42 |
+
python-dateutil==2.9.0.post0
|
| 43 |
+
numpy==2.2.6
|
| 44 |
+
idna==3.13
|
| 45 |
+
triton==3.6.0
|
| 46 |
+
tokenizers==0.22.2
|
| 47 |
+
platformdirs==4.9.6
|
| 48 |
+
yarl==1.23.0
|
| 49 |
+
markdown-it-py==4.0.0
|
| 50 |
+
nvidia-cublas-cu12==12.8.4.1
|
| 51 |
+
urllib3==2.6.3
|
| 52 |
+
blinker==1.9.0
|
| 53 |
+
frozenlist==1.8.0
|
| 54 |
+
smmap==5.0.3
|
| 55 |
+
Flask==3.1.3
|
| 56 |
+
lerobot==0.5.2
|
| 57 |
+
tqdm==4.67.3
|
| 58 |
+
cuda-bindings==12.9.4
|
| 59 |
+
torch==2.10.0
|
| 60 |
+
pydantic==2.13.3
|
| 61 |
+
hf-xet==1.4.3
|
| 62 |
+
rich==15.0.0
|
| 63 |
+
attrs==26.1.0
|
| 64 |
+
gymnasium==1.3.0
|
| 65 |
+
nvidia-cusolver-cu12==11.7.3.90
|
| 66 |
+
itsdangerous==2.2.0
|
| 67 |
+
Farama-Notifications==0.0.6
|
| 68 |
+
av==15.1.0
|
| 69 |
+
diffusers==0.35.2
|
| 70 |
+
pyarrow==24.0.0
|
| 71 |
+
huggingface_hub==1.13.0
|
| 72 |
+
torchvision==0.25.0
|
| 73 |
+
packaging==25.0
|
| 74 |
+
certifi==2026.4.22
|
| 75 |
+
setuptools==80.10.2
|
| 76 |
+
annotated-doc==0.0.4
|
| 77 |
+
transformers==5.5.4
|
| 78 |
+
nvidia-cuda-nvrtc-cu12==12.8.93
|
| 79 |
+
pytz==2026.2
|
| 80 |
+
aiohappyeyeballs==2.6.1
|
| 81 |
+
typing_extensions==4.15.0
|
| 82 |
+
aiosignal==1.4.0
|
| 83 |
+
pandas==2.3.3
|
| 84 |
+
nvidia-cufile-cu12==1.13.1.3
|
| 85 |
+
nvidia-cuda-cupti-cu12==12.8.90
|
| 86 |
+
mdurl==0.1.2
|
| 87 |
+
nvidia-cusparse-cu12==12.5.8.93
|
| 88 |
+
tzdata==2026.2
|
| 89 |
+
nvidia-nvtx-cu12==12.8.90
|
| 90 |
+
fsspec==2026.2.0
|
| 91 |
+
requests==2.33.1
|
| 92 |
+
xxhash==3.7.0
|
| 93 |
+
MarkupSafe==3.0.3
|
| 94 |
+
typing-inspection==0.4.2
|
| 95 |
+
nvidia-nvjitlink-cu12==12.8.93
|
| 96 |
+
termcolor==3.3.0
|
| 97 |
+
importlib_metadata==9.0.0
|
| 98 |
+
httpx==0.28.1
|
| 99 |
+
charset-normalizer==3.4.7
|
| 100 |
+
jsonlines==4.0.0
|
| 101 |
+
safetensors==0.7.0
|
| 102 |
+
multiprocess==0.70.19
|
| 103 |
+
zipp==4.1.0
|
| 104 |
+
accelerate==1.13.0
|
| 105 |
+
psutil==7.2.2
|
| 106 |
+
nvidia-cuda-runtime-cu12==12.8.90
|
| 107 |
+
nvidia-cudnn-cu12==9.10.2.21
|
| 108 |
+
mergedeep==1.3.4
|
| 109 |
+
shellingham==1.5.4
|
| 110 |
+
aiohttp==3.13.5
|
| 111 |
+
six==1.17.0
|
| 112 |
+
GitPython==3.1.49
|
| 113 |
+
datasets==4.8.5
|
checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/files/wandb-metadata.json
ADDED
|
@@ -0,0 +1,78 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"os": "Linux-6.8.0-90-generic-x86_64-with-glibc2.35",
|
| 3 |
+
"python": "CPython 3.12.13",
|
| 4 |
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"startedAt": "2026-05-19T23:50:29.801944Z",
|
| 5 |
+
"args": [
|
| 6 |
+
"--dataset.repo_id=local/act_collected_episodes",
|
| 7 |
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"--dataset.root=/home/shadeform/Desktop/robot_learning/aggregated_new_dataset_781",
|
| 8 |
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"--dataset.video_backend=pyav",
|
| 9 |
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"--policy.type=diffusion",
|
| 10 |
+
"--policy.device=cuda",
|
| 11 |
+
"--policy.push_to_hub=false",
|
| 12 |
+
"--policy.n_obs_steps=2",
|
| 13 |
+
"--policy.horizon=16",
|
| 14 |
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"--policy.n_action_steps=8",
|
| 15 |
+
"--policy.vision_backbone_type=dinov2",
|
| 16 |
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"--policy.vision_backbone=resnet18",
|
| 17 |
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"--policy.freeze_vision_encoder=true",
|
| 18 |
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"--policy.noise_scheduler_type=DDPM",
|
| 19 |
+
"--policy.num_train_timesteps=100",
|
| 20 |
+
"--policy.num_inference_steps=100",
|
| 21 |
+
"--policy.optimizer_lr=1e-4",
|
| 22 |
+
"--policy.scheduler_warmup_steps=500",
|
| 23 |
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"--output_dir=/home/shadeform/Desktop/robot_learning/outputs/train/abl01_v2_baseline_20260519_235012",
|
| 24 |
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"--job_name=abl01_v2_baseline_20260519_235012",
|
| 25 |
+
"--batch_size=64",
|
| 26 |
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"--steps=400000",
|
| 27 |
+
"--num_workers=32",
|
| 28 |
+
"--log_freq=20",
|
| 29 |
+
"--save_freq=100000",
|
| 30 |
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"--eval_freq=0",
|
| 31 |
+
"--wandb.enable=True",
|
| 32 |
+
"--policy.vision_encoder_name=facebook/dinov2-with-registers-small",
|
| 33 |
+
"--policy.resize_shape=[224,224]",
|
| 34 |
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"--policy.vit_pool_type=cls_mean",
|
| 35 |
+
"--policy.vit_feature_dim=512",
|
| 36 |
+
"--policy.vit_num_pool_queries=8",
|
| 37 |
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"--policy.vit_pool_num_heads=4",
|
| 38 |
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"--policy.use_ema=false",
|
| 39 |
+
"--policy.ema_decay=0.999",
|
| 40 |
+
"--dataset.image_transforms.enable=true",
|
| 41 |
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"--wandb.project=cloth_folding_v3_ablation",
|
| 42 |
+
"--seed=42"
|
| 43 |
+
],
|
| 44 |
+
"program": "/home/shadeform/Desktop/robot_learning/lerobot/.venv/bin/lerobot-train",
|
| 45 |
+
"codePath": ".venv/bin/lerobot-train",
|
| 46 |
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"codePathLocal": ".venv/bin/lerobot-train",
|
| 47 |
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"git": {
|
| 48 |
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"remote": "https://github.com/michavol/lerobot.git",
|
| 49 |
+
"commit": "10cbd72fe90266819a792297632904c519fa4c7b"
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| 50 |
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},
|
| 51 |
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"root": "/home/shadeform/Desktop/robot_learning/outputs/train/abl01_v2_baseline_20260519_235012",
|
| 52 |
+
"host": "brev-fmqw8w1mi",
|
| 53 |
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"executable": "/home/shadeform/Desktop/robot_learning/lerobot/.venv/bin/python3",
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| 54 |
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"cpu_count": 16,
|
| 55 |
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"cpu_count_logical": 16,
|
| 56 |
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"gpu": "NVIDIA A100-SXM4-80GB",
|
| 57 |
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"gpu_count": 1,
|
| 58 |
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"disk": {
|
| 59 |
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"/": {
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| 60 |
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"total": "1055573327872",
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| 61 |
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"used": "33763172352"
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| 62 |
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|
| 63 |
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},
|
| 64 |
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"memory": {
|
| 65 |
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"total": "126711083008"
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| 66 |
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|
| 67 |
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"gpu_nvidia": [
|
| 68 |
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{
|
| 69 |
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"name": "NVIDIA A100-SXM4-80GB",
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| 70 |
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"memoryTotal": "85899345920",
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| 71 |
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"cudaCores": 6912,
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| 72 |
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"architecture": "Ampere",
|
| 73 |
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"uuid": "GPU-b5dfe850-6667-b8a8-4310-cd644b7036d1"
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| 74 |
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|
| 75 |
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],
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| 76 |
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"cudaVersion": "13.0",
|
| 77 |
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"writerId": "gkrqcpsqcpu3jkva3zs6h9ipqleh7gzg"
|
| 78 |
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}
|
checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/logs/debug-core.log
ADDED
|
@@ -0,0 +1,7 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{"time":"2026-05-19T23:50:29.834087903Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmp_27emu4_/port-3508073.txt","pid":3508073,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
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| 2 |
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{"time":"2026-05-19T23:50:29.834857207Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":3508073}
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| 3 |
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{"time":"2026-05-19T23:50:29.834804757Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-3508073-3508106-3303396457/socket","Net":"unix"}}
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| 4 |
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{"time":"2026-05-19T23:50:30.02366837Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
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| 5 |
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{"time":"2026-05-19T23:50:30.029193418Z","level":"INFO","msg":"handleInformInit: received","streamId":"pu35iy7k","id":"1(@)"}
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| 6 |
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{"time":"2026-05-19T23:50:30.199234756Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"pu35iy7k","id":"1(@)"}
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| 7 |
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{"time":"2026-05-19T23:50:35.516963512Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"3s5jyqk3in5u"}
|
checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/logs/debug-internal.log
ADDED
|
@@ -0,0 +1,24 @@
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"time":"2026-05-19T23:50:30.029293238Z","level":"INFO","msg":"stream: starting","core version":"0.24.2"}
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| 2 |
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{"time":"2026-05-19T23:50:30.199052993Z","level":"INFO","msg":"stream: created new stream","id":"pu35iy7k"}
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| 3 |
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{"time":"2026-05-19T23:50:30.199146779Z","level":"INFO","msg":"handler: started","stream_id":"pu35iy7k"}
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| 4 |
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{"time":"2026-05-19T23:50:30.199227302Z","level":"INFO","msg":"stream: started","id":"pu35iy7k"}
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| 5 |
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{"time":"2026-05-19T23:50:30.199262248Z","level":"INFO","msg":"writer: started","stream_id":"pu35iy7k"}
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| 6 |
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{"time":"2026-05-19T23:50:30.199315489Z","level":"INFO","msg":"sender: started","stream_id":"pu35iy7k"}
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| 7 |
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{"time":"2026-05-20T06:40:10.666113201Z","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/alextheprophecy-ethz/cloth_folding_v3_ablation/pu35iy7k/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
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| 8 |
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{"time":"2026-05-20T06:41:55.305552751Z","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/alextheprophecy-ethz/cloth_folding_v3_ablation/pu35iy7k/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
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| 9 |
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{"time":"2026-05-20T06:42:58.437665758Z","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/alextheprophecy-ethz/cloth_folding_v3_ablation/pu35iy7k/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
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| 10 |
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| 11 |
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| 12 |
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{"time":"2026-05-20T08:32:27.438484071Z","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/alextheprophecy-ethz/cloth_folding_v3_ablation/pu35iy7k/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
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| 13 |
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{"time":"2026-05-20T09:01:11.33477501Z","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/alextheprophecy-ethz/cloth_folding_v3_ablation/pu35iy7k/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
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| 14 |
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{"time":"2026-05-20T09:28:24.999491846Z","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/alextheprophecy-ethz/cloth_folding_v3_ablation/pu35iy7k/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
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| 15 |
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| 16 |
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