Hugging Face's logo

rlearning2026romsdrums
/
diffusion_unet_checkpoints

Safetensors
Model card Files
xet
 Community
rguntz commited on
Commit
7a18cbe
·
verified ·
1 Parent(s): 8116d88

Upload folder using huggingface_hub

Browse files
Files changed (22) hide show
  1. .gitattributes +1 -0
  2. checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/config.json +92 -0
  3. checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/model.safetensors +3 -0
  4. checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/policy_postprocessor.json +32 -0
  5. checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  6. checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/policy_preprocessor.json +56 -0
  7. checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  8. checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/train_config.json +302 -0
  9. checkpoints/dagger/1iter/checkpoints/002000/training_state/optimizer_param_groups.json +396 -0
  10. checkpoints/dagger/1iter/checkpoints/002000/training_state/optimizer_state.safetensors +3 -0
  11. checkpoints/dagger/1iter/checkpoints/002000/training_state/rng_state.safetensors +3 -0
  12. checkpoints/dagger/1iter/checkpoints/002000/training_state/scheduler_state.json +15 -0
  13. checkpoints/dagger/1iter/checkpoints/002000/training_state/training_step.json +3 -0
  14. checkpoints/dagger/1iter/wandb/debug-internal.log +53 -0
  15. checkpoints/dagger/1iter/wandb/debug.log +19 -0
  16. checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/files/output.log +173 -0
  17. checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/files/requirements.txt +113 -0
  18. checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/files/wandb-metadata.json +69 -0
  19. checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/logs/debug-core.log +7 -0
  20. checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/logs/debug-internal.log +53 -0
  21. checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/logs/debug.log +19 -0
  22. checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/run-ql0pvhal.wandb +3 -0
.gitattributes CHANGED
@@ -46,3 +46,4 @@ checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset_con
46
  checkpoints/dino_v2_20260520/wandb/run-20260520_000553-6chr8b99/run-6chr8b99.wandb filter=lfs diff=lfs merge=lfs -text
47
  checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/run-pu35iy7k.wandb filter=lfs diff=lfs merge=lfs -text
48
  checkpoints/diffusion_specialized_523_dataset_base_from_dino_780_new_config_11H47/wandb/run-20260520_133928-4006sb34/run-4006sb34.wandb filter=lfs diff=lfs merge=lfs -text
 
 
46
  checkpoints/dino_v2_20260520/wandb/run-20260520_000553-6chr8b99/run-6chr8b99.wandb filter=lfs diff=lfs merge=lfs -text
47
  checkpoints/dino_v3_235012/wandb/run-20260519_235029-pu35iy7k/run-pu35iy7k.wandb filter=lfs diff=lfs merge=lfs -text
48
  checkpoints/diffusion_specialized_523_dataset_base_from_dino_780_new_config_11H47/wandb/run-20260520_133928-4006sb34/run-4006sb34.wandb filter=lfs diff=lfs merge=lfs -text
49
+ checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/run-ql0pvhal.wandb filter=lfs diff=lfs merge=lfs -text
checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/config.json ADDED
@@ -0,0 +1,92 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "diffusion",
3
+ "n_obs_steps": 2,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 6
9
+ ]
10
+ },
11
+ "observation.images.front": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ }
19
+ },
20
+ "output_features": {
21
+ "action": {
22
+ "type": "ACTION",
23
+ "shape": [
24
+ 6
25
+ ]
26
+ }
27
+ },
28
+ "device": "cuda",
29
+ "use_amp": false,
30
+ "use_peft": false,
31
+ "push_to_hub": false,
32
+ "repo_id": null,
33
+ "private": null,
34
+ "tags": null,
35
+ "license": null,
36
+ "pretrained_path": "/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_523_dataset_base_from_dino_780_new_config_11H47/checkpoints/010000/pretrained_model",
37
+ "horizon": 16,
38
+ "n_action_steps": 8,
39
+ "normalization_mapping": {
40
+ "VISUAL": "MEAN_STD",
41
+ "STATE": "MIN_MAX",
42
+ "ACTION": "MIN_MAX"
43
+ },
44
+ "drop_n_last_frames": 7,
45
+ "vision_backbone_type": "dinov2",
46
+ "vision_encoder_name": "facebook/dinov2-small",
47
+ "freeze_vision_encoder": true,
48
+ "vision_backbone": "resnet18",
49
+ "resize_shape": [
50
+ 224,
51
+ 224
52
+ ],
53
+ "crop_ratio": 1.0,
54
+ "crop_shape": null,
55
+ "crop_is_random": true,
56
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
57
+ "use_group_norm": false,
58
+ "spatial_softmax_num_keypoints": 32,
59
+ "vit_pool_type": "spatial_softmax",
60
+ "vit_feature_dim": 512,
61
+ "use_separate_rgb_encoder_per_camera": true,
62
+ "down_dims": [
63
+ 512,
64
+ 1024,
65
+ 2048
66
+ ],
67
+ "kernel_size": 5,
68
+ "n_groups": 8,
69
+ "diffusion_step_embed_dim": 128,
70
+ "use_film_scale_modulation": true,
71
+ "noise_scheduler_type": "DDPM",
72
+ "num_train_timesteps": 100,
73
+ "beta_schedule": "squaredcos_cap_v2",
74
+ "beta_start": 0.0001,
75
+ "beta_end": 0.02,
76
+ "prediction_type": "epsilon",
77
+ "clip_sample": true,
78
+ "clip_sample_range": 1.0,
79
+ "num_inference_steps": 100,
80
+ "compile_model": false,
81
+ "compile_mode": "reduce-overhead",
82
+ "do_mask_loss_for_padding": false,
83
+ "optimizer_lr": 5e-05,
84
+ "optimizer_betas": [
85
+ 0.95,
86
+ 0.999
87
+ ],
88
+ "optimizer_eps": 1e-08,
89
+ "optimizer_weight_decay": 1e-06,
90
+ "scheduler_name": "cosine",
91
+ "scheduler_warmup_steps": 100
92
+ }
checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ced059ccb5cbe9a76a0649c2163be44cc5d0eb39210645660a73f33f11d21d4f
3
+ size 1095367712
checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 6
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MIN_MAX",
19
+ "ACTION": "MIN_MAX"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b2cffd05b8fcb092f386f0047017f12099a576aa260612cfb4a12f36d9746bfa
3
+ size 6560
checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.state": {
27
+ "type": "STATE",
28
+ "shape": [
29
+ 6
30
+ ]
31
+ },
32
+ "observation.images.front": {
33
+ "type": "VISUAL",
34
+ "shape": [
35
+ 3,
36
+ 480,
37
+ 640
38
+ ]
39
+ },
40
+ "action": {
41
+ "type": "ACTION",
42
+ "shape": [
43
+ 6
44
+ ]
45
+ }
46
+ },
47
+ "norm_map": {
48
+ "VISUAL": "MEAN_STD",
49
+ "STATE": "MIN_MAX",
50
+ "ACTION": "MIN_MAX"
51
+ }
52
+ },
53
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
54
+ }
55
+ ]
56
+ }
checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b2cffd05b8fcb092f386f0047017f12099a576aa260612cfb4a12f36d9746bfa
3
+ size 6560
checkpoints/dagger/1iter/checkpoints/002000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,302 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "local/dagger_episodes",
4
+ "root": "/home/shadeform/Desktop/robot_learning/base_new_dataset_dagger_628",
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "same_cloth_color": false,
11
+ "tfs": {
12
+ "color_jitter": {
13
+ "weight": 1.5,
14
+ "type": "ColorJitter",
15
+ "kwargs": {
16
+ "brightness": [
17
+ 0.7,
18
+ 1.3
19
+ ],
20
+ "contrast": [
21
+ 0.7,
22
+ 1.3
23
+ ],
24
+ "saturation": [
25
+ 0.4,
26
+ 1.6
27
+ ],
28
+ "hue": [
29
+ -0.5,
30
+ 0.5
31
+ ]
32
+ }
33
+ },
34
+ "grayscale": {
35
+ "weight": 0.5,
36
+ "type": "RandomGrayscale",
37
+ "kwargs": {
38
+ "p": 1.0
39
+ }
40
+ },
41
+ "shadow": {
42
+ "weight": 0.8,
43
+ "type": "RandomShadow",
44
+ "kwargs": {
45
+ "num_shadows": [
46
+ 1,
47
+ 2
48
+ ],
49
+ "intensity": [
50
+ 0.4,
51
+ 0.7
52
+ ],
53
+ "blur_sigma": [
54
+ 4.0,
55
+ 20.0
56
+ ]
57
+ }
58
+ },
59
+ "highlight": {
60
+ "weight": 0.5,
61
+ "type": "RandomHighlight",
62
+ "kwargs": {
63
+ "num_highlights": [
64
+ 0,
65
+ 1
66
+ ],
67
+ "intensity": [
68
+ 0.2,
69
+ 0.5
70
+ ],
71
+ "sigma": [
72
+ 20.0,
73
+ 60.0
74
+ ]
75
+ }
76
+ },
77
+ "gamma": {
78
+ "weight": 0.7,
79
+ "type": "RandomGamma",
80
+ "kwargs": {
81
+ "gamma": [
82
+ 0.6,
83
+ 1.4
84
+ ]
85
+ }
86
+ },
87
+ "blur": {
88
+ "weight": 0.0,
89
+ "type": "GaussianBlur",
90
+ "kwargs": {
91
+ "kernel_size": [
92
+ 3,
93
+ 3
94
+ ],
95
+ "sigma": [
96
+ 0.1,
97
+ 1.5
98
+ ]
99
+ }
100
+ },
101
+ "jpeg": {
102
+ "weight": 0.0,
103
+ "type": "RandomJPEG",
104
+ "kwargs": {
105
+ "quality": [
106
+ 60,
107
+ 95
108
+ ]
109
+ }
110
+ },
111
+ "crop": {
112
+ "weight": 0.5,
113
+ "type": "RandomCropPreserveSize",
114
+ "kwargs": {
115
+ "scale": [
116
+ 0.97,
117
+ 1.0
118
+ ],
119
+ "ratio": [
120
+ 0.99,
121
+ 1.01
122
+ ]
123
+ }
124
+ },
125
+ "affine": {
126
+ "weight": 0.0,
127
+ "type": "RandomAffine",
128
+ "kwargs": {
129
+ "degrees": [
130
+ -5.0,
131
+ 5.0
132
+ ],
133
+ "translate": [
134
+ 0.05,
135
+ 0.05
136
+ ]
137
+ }
138
+ },
139
+ "sharpness": {
140
+ "weight": 1.0,
141
+ "type": "SharpnessJitter",
142
+ "kwargs": {
143
+ "sharpness": [
144
+ 0.5,
145
+ 1.5
146
+ ]
147
+ }
148
+ }
149
+ }
150
+ },
151
+ "revision": null,
152
+ "use_imagenet_stats": true,
153
+ "video_backend": "pyav",
154
+ "return_uint8": false,
155
+ "streaming": false
156
+ },
157
+ "env": null,
158
+ "policy": {
159
+ "type": "diffusion",
160
+ "n_obs_steps": 2,
161
+ "input_features": {
162
+ "observation.state": {
163
+ "type": "STATE",
164
+ "shape": [
165
+ 6
166
+ ]
167
+ },
168
+ "observation.images.front": {
169
+ "type": "VISUAL",
170
+ "shape": [
171
+ 3,
172
+ 480,
173
+ 640
174
+ ]
175
+ }
176
+ },
177
+ "output_features": {
178
+ "action": {
179
+ "type": "ACTION",
180
+ "shape": [
181
+ 6
182
+ ]
183
+ }
184
+ },
185
+ "device": "cuda",
186
+ "use_amp": false,
187
+ "use_peft": false,
188
+ "push_to_hub": false,
189
+ "repo_id": null,
190
+ "private": null,
191
+ "tags": null,
192
+ "license": null,
193
+ "pretrained_path": "/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_523_dataset_base_from_dino_780_new_config_11H47/checkpoints/010000/pretrained_model",
194
+ "horizon": 16,
195
+ "n_action_steps": 8,
196
+ "normalization_mapping": {
197
+ "VISUAL": "MEAN_STD",
198
+ "STATE": "MIN_MAX",
199
+ "ACTION": "MIN_MAX"
200
+ },
201
+ "drop_n_last_frames": 7,
202
+ "vision_backbone_type": "dinov2",
203
+ "vision_encoder_name": "facebook/dinov2-small",
204
+ "freeze_vision_encoder": true,
205
+ "vision_backbone": "resnet18",
206
+ "resize_shape": [
207
+ 224,
208
+ 224
209
+ ],
210
+ "crop_ratio": 1.0,
211
+ "crop_shape": null,
212
+ "crop_is_random": true,
213
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
214
+ "use_group_norm": false,
215
+ "spatial_softmax_num_keypoints": 32,
216
+ "vit_pool_type": "spatial_softmax",
217
+ "vit_feature_dim": 512,
218
+ "use_separate_rgb_encoder_per_camera": true,
219
+ "down_dims": [
220
+ 512,
221
+ 1024,
222
+ 2048
223
+ ],
224
+ "kernel_size": 5,
225
+ "n_groups": 8,
226
+ "diffusion_step_embed_dim": 128,
227
+ "use_film_scale_modulation": true,
228
+ "noise_scheduler_type": "DDPM",
229
+ "num_train_timesteps": 100,
230
+ "beta_schedule": "squaredcos_cap_v2",
231
+ "beta_start": 0.0001,
232
+ "beta_end": 0.02,
233
+ "prediction_type": "epsilon",
234
+ "clip_sample": true,
235
+ "clip_sample_range": 1.0,
236
+ "num_inference_steps": 100,
237
+ "compile_model": false,
238
+ "compile_mode": "reduce-overhead",
239
+ "do_mask_loss_for_padding": false,
240
+ "optimizer_lr": 5e-05,
241
+ "optimizer_betas": [
242
+ 0.95,
243
+ 0.999
244
+ ],
245
+ "optimizer_eps": 1e-08,
246
+ "optimizer_weight_decay": 1e-06,
247
+ "scheduler_name": "cosine",
248
+ "scheduler_warmup_steps": 100
249
+ },
250
+ "reward_model": null,
251
+ "output_dir": "/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_25000steps_20260520_173844",
252
+ "job_name": "diffusion_dagger_iter1_25000steps_20260520_173844",
253
+ "resume": false,
254
+ "seed": 1000,
255
+ "cudnn_deterministic": false,
256
+ "num_workers": 16,
257
+ "batch_size": 64,
258
+ "prefetch_factor": 4,
259
+ "persistent_workers": true,
260
+ "steps": 25000,
261
+ "eval_freq": 0,
262
+ "log_freq": 20,
263
+ "tolerance_s": 0.0001,
264
+ "save_checkpoint": true,
265
+ "save_freq": 2000,
266
+ "use_policy_training_preset": true,
267
+ "optimizer": {
268
+ "type": "adam",
269
+ "lr": 5e-05,
270
+ "weight_decay": 1e-06,
271
+ "grad_clip_norm": 10.0,
272
+ "betas": [
273
+ 0.95,
274
+ 0.999
275
+ ],
276
+ "eps": 1e-08
277
+ },
278
+ "scheduler": {
279
+ "type": "diffuser",
280
+ "num_warmup_steps": 100,
281
+ "name": "cosine"
282
+ },
283
+ "eval": {
284
+ "n_episodes": 50,
285
+ "batch_size": 19,
286
+ "use_async_envs": true
287
+ },
288
+ "wandb": {
289
+ "enable": true,
290
+ "disable_artifact": false,
291
+ "project": "lerobot",
292
+ "entity": null,
293
+ "notes": null,
294
+ "run_id": "ql0pvhal",
295
+ "mode": null,
296
+ "add_tags": true
297
+ },
298
+ "peft": null,
299
+ "sample_weighting": null,
300
+ "rename_map": {},
301
+ "checkpoint_path": null
302
+ }
checkpoints/dagger/1iter/checkpoints/002000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,396 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 4.928511280455169e-05,
4
+ "betas": [
5
+ 0.95,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 1e-06,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": false,
17
+ "initial_lr": 5e-05,
18
+ "params": [
19
+ 0,
20
+ 1,
21
+ 2,
22
+ 3,
23
+ 4,
24
+ 5,
25
+ 6,
26
+ 7,
27
+ 8,
28
+ 9,
29
+ 10,
30
+ 11,
31
+ 12,
32
+ 13,
33
+ 14,
34
+ 15,
35
+ 16,
36
+ 17,
37
+ 18,
38
+ 19,
39
+ 20,
40
+ 21,
41
+ 22,
42
+ 23,
43
+ 24,
44
+ 25,
45
+ 26,
46
+ 27,
47
+ 28,
48
+ 29,
49
+ 30,
50
+ 31,
51
+ 32,
52
+ 33,
53
+ 34,
54
+ 35,
55
+ 36,
56
+ 37,
57
+ 38,
58
+ 39,
59
+ 40,
60
+ 41,
61
+ 42,
62
+ 43,
63
+ 44,
64
+ 45,
65
+ 46,
66
+ 47,
67
+ 48,
68
+ 49,
69
+ 50,
70
+ 51,
71
+ 52,
72
+ 53,
73
+ 54,
74
+ 55,
75
+ 56,
76
+ 57,
77
+ 58,
78
+ 59,
79
+ 60,
80
+ 61,
81
+ 62,
82
+ 63,
83
+ 64,
84
+ 65,
85
+ 66,
86
+ 67,
87
+ 68,
88
+ 69,
89
+ 70,
90
+ 71,
91
+ 72,
92
+ 73,
93
+ 74,
94
+ 75,
95
+ 76,
96
+ 77,
97
+ 78,
98
+ 79,
99
+ 80,
100
+ 81,
101
+ 82,
102
+ 83,
103
+ 84,
104
+ 85,
105
+ 86,
106
+ 87,
107
+ 88,
108
+ 89,
109
+ 90,
110
+ 91,
111
+ 92,
112
+ 93,
113
+ 94,
114
+ 95,
115
+ 96,
116
+ 97,
117
+ 98,
118
+ 99,
119
+ 100,
120
+ 101,
121
+ 102,
122
+ 103,
123
+ 104,
124
+ 105,
125
+ 106,
126
+ 107,
127
+ 108,
128
+ 109,
129
+ 110,
130
+ 111,
131
+ 112,
132
+ 113,
133
+ 114,
134
+ 115,
135
+ 116,
136
+ 117,
137
+ 118,
138
+ 119,
139
+ 120,
140
+ 121,
141
+ 122,
142
+ 123,
143
+ 124,
144
+ 125,
145
+ 126,
146
+ 127,
147
+ 128,
148
+ 129,
149
+ 130,
150
+ 131,
151
+ 132,
152
+ 133,
153
+ 134,
154
+ 135,
155
+ 136,
156
+ 137,
157
+ 138,
158
+ 139,
159
+ 140,
160
+ 141,
161
+ 142,
162
+ 143,
163
+ 144,
164
+ 145,
165
+ 146,
166
+ 147,
167
+ 148,
168
+ 149,
169
+ 150,
170
+ 151,
171
+ 152,
172
+ 153,
173
+ 154,
174
+ 155,
175
+ 156,
176
+ 157,
177
+ 158,
178
+ 159,
179
+ 160,
180
+ 161,
181
+ 162,
182
+ 163,
183
+ 164,
184
+ 165,
185
+ 166,
186
+ 167,
187
+ 168,
188
+ 169,
189
+ 170,
190
+ 171,
191
+ 172,
192
+ 173,
193
+ 174,
194
+ 175,
195
+ 176,
196
+ 177,
197
+ 178,
198
+ 179,
199
+ 180,
200
+ 181,
201
+ 182,
202
+ 183,
203
+ 184,
204
+ 185,
205
+ 186,
206
+ 187,
207
+ 188,
208
+ 189,
209
+ 190,
210
+ 191,
211
+ 192,
212
+ 193,
213
+ 194,
214
+ 195,
215
+ 196,
216
+ 197,
217
+ 198,
218
+ 199,
219
+ 200,
220
+ 201,
221
+ 202,
222
+ 203,
223
+ 204,
224
+ 205,
225
+ 206,
226
+ 207,
227
+ 208,
228
+ 209,
229
+ 210,
230
+ 211,
231
+ 212,
232
+ 213,
233
+ 214,
234
+ 215,
235
+ 216,
236
+ 217,
237
+ 218,
238
+ 219,
239
+ 220,
240
+ 221,
241
+ 222,
242
+ 223,
243
+ 224,
244
+ 225,
245
+ 226,
246
+ 227,
247
+ 228,
248
+ 229,
249
+ 230,
250
+ 231,
251
+ 232,
252
+ 233,
253
+ 234,
254
+ 235,
255
+ 236,
256
+ 237,
257
+ 238,
258
+ 239,
259
+ 240,
260
+ 241,
261
+ 242,
262
+ 243,
263
+ 244,
264
+ 245,
265
+ 246,
266
+ 247,
267
+ 248,
268
+ 249,
269
+ 250,
270
+ 251,
271
+ 252,
272
+ 253,
273
+ 254,
274
+ 255,
275
+ 256,
276
+ 257,
277
+ 258,
278
+ 259,
279
+ 260,
280
+ 261,
281
+ 262,
282
+ 263,
283
+ 264,
284
+ 265,
285
+ 266,
286
+ 267,
287
+ 268,
288
+ 269,
289
+ 270,
290
+ 271,
291
+ 272,
292
+ 273,
293
+ 274,
294
+ 275,
295
+ 276,
296
+ 277,
297
+ 278,
298
+ 279,
299
+ 280,
300
+ 281,
301
+ 282,
302
+ 283,
303
+ 284,
304
+ 285,
305
+ 286,
306
+ 287,
307
+ 288,
308
+ 289,
309
+ 290,
310
+ 291,
311
+ 292,
312
+ 293,
313
+ 294,
314
+ 295,
315
+ 296,
316
+ 297,
317
+ 298,
318
+ 299,
319
+ 300,
320
+ 301,
321
+ 302,
322
+ 303,
323
+ 304,
324
+ 305,
325
+ 306,
326
+ 307,
327
+ 308,
328
+ 309,
329
+ 310,
330
+ 311,
331
+ 312,
332
+ 313,
333
+ 314,
334
+ 315,
335
+ 316,
336
+ 317,
337
+ 318,
338
+ 319,
339
+ 320,
340
+ 321,
341
+ 322,
342
+ 323,
343
+ 324,
344
+ 325,
345
+ 326,
346
+ 327,
347
+ 328,
348
+ 329,
349
+ 330,
350
+ 331,
351
+ 332,
352
+ 333,
353
+ 334,
354
+ 335,
355
+ 336,
356
+ 337,
357
+ 338,
358
+ 339,
359
+ 340,
360
+ 341,
361
+ 342,
362
+ 343,
363
+ 344,
364
+ 345,
365
+ 346,
366
+ 347,
367
+ 348,
368
+ 349,
369
+ 350,
370
+ 351,
371
+ 352,
372
+ 353,
373
+ 354,
374
+ 355,
375
+ 356,
376
+ 357,
377
+ 358,
378
+ 359,
379
+ 360,
380
+ 361,
381
+ 362,
382
+ 363,
383
+ 364,
384
+ 365,
385
+ 366,
386
+ 367,
387
+ 368,
388
+ 369,
389
+ 370,
390
+ 371,
391
+ 372,
392
+ 373,
393
+ 374
394
+ ]
395
+ }
396
+ ]
checkpoints/dagger/1iter/checkpoints/002000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:afc30b8757cbe4c78218d5adb84e43a18c5404cf19904e574785f3e9e1e964bf
3
+ size 2014217744
checkpoints/dagger/1iter/checkpoints/002000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:63e1327a5337a13846a3d6d79278f543d82bbc6ddda7da8bbead011d6b4414a4
3
+ size 15708
checkpoints/dagger/1iter/checkpoints/002000/training_state/scheduler_state.json ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_lrs": [
3
+ 5e-05
4
+ ],
5
+ "last_epoch": 2000,
6
+ "_step_count": 2001,
7
+ "_is_initial": false,
8
+ "_get_lr_called_within_step": false,
9
+ "_last_lr": [
10
+ 4.928511280455169e-05
11
+ ],
12
+ "lr_lambdas": [
13
+ null
14
+ ]
15
+ }
checkpoints/dagger/1iter/checkpoints/002000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 2000
3
+ }
checkpoints/dagger/1iter/wandb/debug-internal.log ADDED
@@ -0,0 +1,53 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"time":"2026-05-20T17:38:54.19381067Z","level":"INFO","msg":"wandb-core"}
2
+ {"time":"2026-05-20T17:38:54.194031141Z","level":"INFO","msg":"stream: starting","core version":"0.27.0"}
3
+ {"time":"2026-05-20T17:38:54.404993256Z","level":"INFO","msg":"stream: created new stream","id":"ql0pvhal"}
4
+ {"time":"2026-05-20T17:38:54.405099626Z","level":"INFO","msg":"handler: started"}
5
+ {"time":"2026-05-20T17:38:54.405227028Z","level":"INFO","msg":"stream: started"}
6
+ {"time":"2026-05-20T17:38:54.40526198Z","level":"INFO","msg":"sender: started"}
7
+ {"time":"2026-05-20T17:38:54.405257293Z","level":"INFO","msg":"writer: started","stream_id":"ql0pvhal"}
8
+ {"time":"2026-05-20T17:38:54.716336696Z","level":"INFO","msg":"filestream: sending request","total_files":1,"console_offset":0,"console_lines":1}
9
+ {"time":"2026-05-20T17:38:54.952802541Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
10
+ {"time":"2026-05-20T17:39:09.716420051Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":0,"events_lines":1,"console_offset":1,"console_lines":16,"uploaded_len":2}
11
+ {"time":"2026-05-20T17:39:09.916465761Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
12
+ {"time":"2026-05-20T17:39:24.716711971Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":0,"history_lines":7,"events_offset":1,"events_lines":2,"console_offset":16,"console_lines":9}
13
+ {"time":"2026-05-20T17:39:24.905460935Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
14
+ {"time":"2026-05-20T17:39:39.71737447Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":7,"history_lines":7,"events_offset":3,"events_lines":2,"console_offset":24,"console_lines":8}
15
+ {"time":"2026-05-20T17:39:39.911468896Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
16
+ {"time":"2026-05-20T17:39:54.716948329Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":14,"history_lines":8,"events_offset":5,"events_lines":2,"console_offset":31,"console_lines":9}
17
+ {"time":"2026-05-20T17:39:54.871364008Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
18
+ {"time":"2026-05-20T17:40:09.716746312Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":22,"history_lines":7,"events_offset":7,"events_lines":2,"console_offset":39,"console_lines":8}
19
+ {"time":"2026-05-20T17:40:09.919147394Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
20
+ {"time":"2026-05-20T17:40:24.716980715Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":29,"history_lines":8,"events_offset":9,"events_lines":2,"console_offset":46,"console_lines":9}
21
+ {"time":"2026-05-20T17:40:24.942767262Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
22
+ {"time":"2026-05-20T17:40:39.716603054Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":37,"history_lines":8,"events_offset":11,"events_lines":2,"console_offset":54,"console_lines":8}
23
+ {"time":"2026-05-20T17:40:39.873647237Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
24
+ {"time":"2026-05-20T17:40:54.716970769Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":45,"history_lines":7,"events_offset":13,"events_lines":2,"console_offset":62,"console_lines":8}
25
+ {"time":"2026-05-20T17:40:54.880096001Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
26
+ {"time":"2026-05-20T17:41:09.716950316Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":52,"history_lines":8,"events_offset":15,"events_lines":2,"console_offset":69,"console_lines":8}
27
+ {"time":"2026-05-20T17:41:09.870875997Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
28
+ {"time":"2026-05-20T17:41:24.716886466Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":60,"history_lines":7,"events_offset":17,"events_lines":2,"console_offset":77,"console_lines":8}
29
+ {"time":"2026-05-20T17:41:24.882947063Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
30
+ {"time":"2026-05-20T17:41:39.717711189Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":67,"history_lines":8,"events_offset":19,"events_lines":2,"console_offset":84,"console_lines":9}
31
+ {"time":"2026-05-20T17:41:39.869151089Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
32
+ {"time":"2026-05-20T17:41:54.716543433Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":75,"history_lines":7,"events_offset":21,"events_lines":2,"console_offset":92,"console_lines":8}
33
+ {"time":"2026-05-20T17:41:54.880103798Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
34
+ {"time":"2026-05-20T17:42:09.717075003Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":82,"history_lines":8,"events_offset":23,"events_lines":2,"console_offset":99,"console_lines":9}
35
+ {"time":"2026-05-20T17:42:09.904515835Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
36
+ {"time":"2026-05-20T17:42:24.716862242Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":90,"history_lines":7,"events_offset":25,"events_lines":2,"console_offset":107,"console_lines":8}
37
+ {"time":"2026-05-20T17:42:24.909350958Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
38
+ {"time":"2026-05-20T17:42:39.716435689Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":97,"history_lines":4,"events_offset":27,"events_lines":2,"console_offset":114,"console_lines":6}
39
+ {"time":"2026-05-20T17:42:39.922235823Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
40
+ {"time":"2026-05-20T17:42:54.716563642Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":101,"history_lines":7,"events_offset":29,"events_lines":2,"console_offset":119,"console_lines":8}
41
+ {"time":"2026-05-20T17:42:54.883961478Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
42
+ {"time":"2026-05-20T17:43:09.717247471Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":108,"history_lines":8,"events_offset":31,"events_lines":2,"console_offset":126,"console_lines":9}
43
+ {"time":"2026-05-20T17:43:09.852082368Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
44
+ {"time":"2026-05-20T17:43:24.717000091Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":116,"history_lines":8,"events_offset":33,"events_lines":2,"console_offset":134,"console_lines":9}
45
+ {"time":"2026-05-20T17:43:25.238469202Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
46
+ {"time":"2026-05-20T17:43:39.717039645Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":124,"history_lines":7,"events_offset":35,"events_lines":2,"console_offset":142,"console_lines":8}
47
+ {"time":"2026-05-20T17:43:39.936775183Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
48
+ {"time":"2026-05-20T17:43:54.716476215Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":131,"history_lines":8,"events_offset":37,"events_lines":2,"console_offset":149,"console_lines":9}
49
+ {"time":"2026-05-20T17:43:54.909310881Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
50
+ {"time":"2026-05-20T17:44:09.71665183Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":139,"history_lines":7,"events_offset":39,"events_lines":2,"console_offset":157,"console_lines":8}
51
+ {"time":"2026-05-20T17:44:09.965260526Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
52
+ {"time":"2026-05-20T17:44:24.716640948Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":146,"history_lines":8,"events_offset":41,"events_lines":2,"console_offset":164,"console_lines":9}
53
+ {"time":"2026-05-20T17:44:24.979011599Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
checkpoints/dagger/1iter/wandb/debug.log ADDED
@@ -0,0 +1,19 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_setup.py:_flush():81] Current SDK version is 0.27.0
2
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_setup.py:_flush():81] Configure stats pid to 1855373
3
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_setup.py:_flush():81] Loading settings from environment variables
4
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/shadeform/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_25000steps_20260520_173844/wandb/run-20260520_173853-ql0pvhal/logs/debug.log
5
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/shadeform/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_25000steps_20260520_173844/wandb/run-20260520_173853-ql0pvhal/logs/debug-internal.log
6
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_init.py:init():851] calling init triggers
7
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_init.py:init():856] wandb.init called with sweep_config: {}
8
+ config: {'dataset': {'repo_id': 'local/dagger_episodes', 'root': '/home/shadeform/Desktop/robot_learning/base_new_dataset_dagger_628', 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'same_cloth_color': False, 'tfs': {'color_jitter': {'weight': 1.5, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.7, 1.3], 'contrast': [0.7, 1.3], 'saturation': [0.4, 1.6], 'hue': [-0.5, 0.5]}}, 'grayscale': {'weight': 0.5, 'type': 'RandomGrayscale', 'kwargs': {'p': 1.0}}, 'shadow': {'weight': 0.8, 'type': 'RandomShadow', 'kwargs': {'num_shadows': [1, 2], 'intensity': [0.4, 0.7], 'blur_sigma': [4.0, 20.0]}}, 'highlight': {'weight': 0.5, 'type': 'RandomHighlight', 'kwargs': {'num_highlights': [0, 1], 'intensity': [0.2, 0.5], 'sigma': [20.0, 60.0]}}, 'gamma': {'weight': 0.7, 'type': 'RandomGamma', 'kwargs': {'gamma': [0.6, 1.4]}}, 'blur': {'weight': 0.0, 'type': 'GaussianBlur', 'kwargs': {'kernel_size': [3, 3], 'sigma': [0.1, 1.5]}}, 'jpeg': {'weight': 0.0, 'type': 'RandomJPEG', 'kwargs': {'quality': [60, 95]}}, 'crop': {'weight': 0.5, 'type': 'RandomCropPreserveSize', 'kwargs': {'scale': [0.97, 1.0], 'ratio': [0.99, 1.01]}}, 'affine': {'weight': 0.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'pyav', 'return_uint8': False, 'streaming': False}, 'env': None, 'policy': {'type': 'diffusion', 'n_obs_steps': 2, 'input_features': {'observation.state': {'type': <FeatureType.STATE: 'STATE'>, 'shape': [6]}, 'observation.images.front': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 480, 640]}}, 'output_features': {'action': {'type': <FeatureType.ACTION: 'ACTION'>, 'shape': [6]}}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': '/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_523_dataset_base_from_dino_780_new_config_11H47/checkpoints/010000/pretrained_model', 'horizon': 16, 'n_action_steps': 8, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>, 'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>}, 'drop_n_last_frames': 7, 'vision_backbone_type': 'dinov2', 'vision_encoder_name': 'facebook/dinov2-small', 'freeze_vision_encoder': True, 'vision_backbone': 'resnet18', 'resize_shape': [224, 224], 'crop_ratio': 1.0, 'crop_shape': None, 'crop_is_random': True, 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'use_group_norm': False, 'spatial_softmax_num_keypoints': 32, 'vit_pool_type': 'spatial_softmax', 'vit_feature_dim': 512, 'use_separate_rgb_encoder_per_camera': True, 'down_dims': [512, 1024, 2048], 'kernel_size': 5, 'n_groups': 8, 'diffusion_step_embed_dim': 128, 'use_film_scale_modulation': True, 'noise_scheduler_type': 'DDPM', 'num_train_timesteps': 100, 'beta_schedule': 'squaredcos_cap_v2', 'beta_start': 0.0001, 'beta_end': 0.02, 'prediction_type': 'epsilon', 'clip_sample': True, 'clip_sample_range': 1.0, 'num_inference_steps': 100, 'compile_model': False, 'compile_mode': 'reduce-overhead', 'do_mask_loss_for_padding': False, 'optimizer_lr': 5e-05, 'optimizer_betas': [0.95, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-06, 'scheduler_name': 'cosine', 'scheduler_warmup_steps': 100}, 'reward_model': None, 'output_dir': '/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_25000steps_20260520_173844', 'job_name': 'diffusion_dagger_iter1_25000steps_20260520_173844', 'resume': False, 'seed': 1000, 'cudnn_deterministic': False, 'num_workers': 16, 'batch_size': 64, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 25000, 'eval_freq': 0, 'log_freq': 20, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 2000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adam', 'lr': 5e-05, 'weight_decay': 1e-06, 'grad_clip_norm': 10.0, 'betas': [0.95, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 100, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 19, 'use_async_envs': True}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None, 'add_tags': True}, 'peft': None, 'sample_weighting': None, 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}}
9
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_init.py:init():899] starting backend
10
+ 2026-05-20 17:38:54,188 INFO MainThread:1855373 [wandb_init.py:init():914] sending inform_init request
11
+ 2026-05-20 17:38:54,405 INFO MainThread:1855373 [wandb_init.py:init():919] backend started and connected
12
+ 2026-05-20 17:38:54,407 INFO MainThread:1855373 [wandb_init.py:init():989] updated telemetry
13
+ 2026-05-20 17:38:54,411 INFO MainThread:1855373 [wandb_init.py:init():1012] communicating run to backend with 90.0 second timeout
14
+ 2026-05-20 17:38:54,659 INFO MainThread:1855373 [wandb_init.py:init():1057] starting run threads in backend
15
+ 2026-05-20 17:38:54,712 INFO MainThread:1855373 [wandb_run.py:_console_start():2509] atexit reg
16
+ 2026-05-20 17:38:54,712 INFO MainThread:1855373 [wandb_run.py:_redirect():2359] redirect: wrap_raw
17
+ 2026-05-20 17:38:54,712 INFO MainThread:1855373 [wandb_run.py:_redirect():2428] Wrapping output streams.
18
+ 2026-05-20 17:38:54,712 INFO MainThread:1855373 [wandb_run.py:_redirect():2451] Redirects installed.
19
+ 2026-05-20 17:38:54,714 INFO MainThread:1855373 [wandb_init.py:init():1095] run started, returning control to user process
checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/files/output.log ADDED
@@ -0,0 +1,173 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ INFO 2026-05-20 17:38:54 db_utils.py:121 Logs will be synced with wandb.
2
+ INFO 2026-05-20 17:38:54 db_utils.py:122 Track this run --> https://wandb.ai/romainguntz-eth-z-rich/lerobot/runs/ql0pvhal
3
+ INFO 2026-05-20 17:38:54 ot_train.py:236 Creating dataset
4
+ INFO 2026-05-20 17:38:54 eo_utils.py:110 Using video codec: libsvtav1
5
+ INFO 2026-05-20 17:38:54 ot_train.py:270 Creating policy
6
+ Loading weights: 100%|███████████████████████████████████| 223/223 [00:00<00:00, 7461.98it/s]
7
+ Loading weights from local directory
8
+ INFO 2026-05-20 17:38:56 ot_train.py:347 Creating optimizer and scheduler
9
+ INFO 2026-05-20 17:38:56 ot_train.py:374 Output dir: /home/shadeform/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_25000steps_20260520_173844
10
+ INFO 2026-05-20 17:38:56 ot_train.py:381 cfg.steps=25000 (25K)
11
+ INFO 2026-05-20 17:38:56 ot_train.py:382 dataset.num_frames=267896 (268K)
12
+ INFO 2026-05-20 17:38:56 ot_train.py:383 dataset.num_episodes=628
13
+ INFO 2026-05-20 17:38:56 ot_train.py:386 Effective batch size: 64 x 1 = 64
14
+ INFO 2026-05-20 17:38:56 ot_train.py:387 num_learnable_params=251772134 (252M)
15
+ INFO 2026-05-20 17:38:56 ot_train.py:388 num_total_params=273828710 (274M)
16
+ Training: 0%| | 0/25000 [00:00<?, ?step/s]INFO 2026-05-20 17:38:56 ot_train.py:453 Start offline training on a fixed dataset, with effective batch size: 64
17
+ Training: 0%| | 19/25000 [00:13<1:02:44, 6.64step/s]INFO 2026-05-20 17:39:10 ot_train.py:488 step:20 smpl:1K ep:3 epch:0.00 loss:0.009 grdn:0.195 lr:5.3e-06 updt_s:0.382 data_s:0.279
18
+ Training: 0%| | 40/25000 [00:15<43:47, 9.50step/s]INFO 2026-05-20 17:39:12 ot_train.py:488 step:40 smpl:3K ep:6 epch:0.01 loss:0.010 grdn:0.216 lr:1.5e-05 updt_s:0.092 data_s:0.008
19
+ Training: 0%| | 60/25000 [00:17<41:24, 10.04step/s]INFO 2026-05-20 17:39:14 ot_train.py:488 step:60 smpl:4K ep:9 epch:0.01 loss:0.009 grdn:0.207 lr:2.5e-05 updt_s:0.097 data_s:0.006
20
+ Training: 0%|▏ | 79/25000 [00:19<46:01, 9.03step/s]INFO 2026-05-20 17:39:16 ot_train.py:488 step:80 smpl:5K ep:12 epch:0.02 loss:0.010 grdn:0.232 lr:3.5e-05 updt_s:0.093 data_s:0.007
21
+ Training: 0%|▏ | 99/25000 [00:21<41:20, 10.04step/s]INFO 2026-05-20 17:39:18 ot_train.py:488 step:100 smpl:6K ep:15 epch:0.02 loss:0.011 grdn:0.235 lr:4.5e-05 updt_s:0.090 data_s:0.006
22
+ Training: 0%|▏ | 119/25000 [00:23<38:17, 10.83step/s]INFO 2026-05-20 17:39:20 ot_train.py:488 step:120 smpl:8K ep:18 epch:0.03 loss:0.011 grdn:0.208 lr:5.0e-05 updt_s:0.090 data_s:0.006
23
+ Training: 1%|▏ | 140/25000 [00:25<39:38, 10.45step/s]INFO 2026-05-20 17:39:22 ot_train.py:488 step:140 smpl:9K ep:21 epch:0.03 loss:0.010 grdn:0.193 lr:5.0e-05 updt_s:0.094 data_s:0.007
24
+ Training: 1%|▎ | 160/25000 [00:27<39:08, 10.58step/s]INFO 2026-05-20 17:39:24 ot_train.py:488 step:160 smpl:10K ep:24 epch:0.04 loss:0.010 grdn:0.209 lr:5.0e-05 updt_s:0.092 data_s:0.010
25
+ Training: 1%|▎ | 180/25000 [00:29<41:34, 9.95step/s]INFO 2026-05-20 17:39:26 ot_train.py:488 step:180 smpl:12K ep:27 epch:0.04 loss:0.009 grdn:0.210 lr:5.0e-05 updt_s:0.091 data_s:0.008
26
+ Training: 1%|▎ | 200/25000 [00:31<42:20, 9.76step/s]INFO 2026-05-20 17:39:28 ot_train.py:488 step:200 smpl:13K ep:30 epch:0.05 loss:0.010 grdn:0.214 lr:5.0e-05 updt_s:0.089 data_s:0.009
27
+ Training: 1%|▎ | 220/25000 [00:33<41:32, 9.94step/s]INFO 2026-05-20 17:39:30 ot_train.py:488 step:220 smpl:14K ep:33 epch:0.05 loss:0.010 grdn:0.206 lr:5.0e-05 updt_s:0.089 data_s:0.010
28
+ Training: 1%|▍ | 240/25000 [00:35<39:23, 10.47step/s]INFO 2026-05-20 17:39:32 ot_train.py:488 step:240 smpl:15K ep:36 epch:0.06 loss:0.010 grdn:0.193 lr:5.0e-05 updt_s:0.092 data_s:0.006
29
+ Training: 1%|▍ | 260/25000 [00:37<39:49, 10.35step/s]INFO 2026-05-20 17:39:34 ot_train.py:488 step:260 smpl:17K ep:39 epch:0.06 loss:0.010 grdn:0.208 lr:5.0e-05 updt_s:0.093 data_s:0.006
30
+ Training: 1%|▍ | 280/25000 [00:39<40:11, 10.25step/s]INFO 2026-05-20 17:39:36 ot_train.py:488 step:280 smpl:18K ep:42 epch:0.07 loss:0.010 grdn:0.193 lr:5.0e-05 updt_s:0.087 data_s:0.011
31
+ Training: 1%|▍ | 300/25000 [00:41<39:16, 10.48step/s]INFO 2026-05-20 17:39:38 ot_train.py:488 step:300 smpl:19K ep:45 epch:0.07 loss:0.011 grdn:0.217 lr:5.0e-05 updt_s:0.086 data_s:0.008
32
+ Training: 1%|▌ | 320/25000 [00:43<38:57, 10.56step/s]INFO 2026-05-20 17:39:40 ot_train.py:488 step:320 smpl:20K ep:48 epch:0.08 loss:0.011 grdn:0.193 lr:5.0e-05 updt_s:0.086 data_s:0.013
33
+ Training: 1%|▌ | 340/25000 [00:45<40:46, 10.08step/s]INFO 2026-05-20 17:39:42 ot_train.py:488 step:340 smpl:22K ep:51 epch:0.08 loss:0.010 grdn:0.189 lr:5.0e-05 updt_s:0.088 data_s:0.011
34
+ Training: 1%|▌ | 360/25000 [00:47<39:05, 10.50step/s]INFO 2026-05-20 17:39:44 ot_train.py:488 step:360 smpl:23K ep:54 epch:0.09 loss:0.010 grdn:0.207 lr:5.0e-05 updt_s:0.086 data_s:0.010
35
+ Training: 2%|▌ | 380/25000 [00:49<40:24, 10.16step/s]INFO 2026-05-20 17:39:46 ot_train.py:488 step:380 smpl:24K ep:57 epch:0.09 loss:0.009 grdn:0.177 lr:5.0e-05 updt_s:0.090 data_s:0.008
36
+ Training: 2%|▋ | 400/25000 [00:51<41:34, 9.86step/s]INFO 2026-05-20 17:39:48 ot_train.py:488 step:400 smpl:26K ep:60 epch:0.10 loss:0.010 grdn:0.196 lr:5.0e-05 updt_s:0.086 data_s:0.011
37
+ Training: 2%|▋ | 419/25000 [00:53<40:19, 10.16step/s]INFO 2026-05-20 17:39:50 ot_train.py:488 step:420 smpl:27K ep:63 epch:0.10 loss:0.011 grdn:0.202 lr:5.0e-05 updt_s:0.090 data_s:0.008
38
+ Training: 2%|▋ | 439/25000 [00:55<38:25, 10.65step/s]INFO 2026-05-20 17:39:52 ot_train.py:488 step:440 smpl:28K ep:66 epch:0.11 loss:0.012 grdn:0.230 lr:5.0e-05 updt_s:0.087 data_s:0.008
39
+ Training: 2%|▋ | 460/25000 [00:57<39:59, 10.23step/s]INFO 2026-05-20 17:39:54 ot_train.py:488 step:460 smpl:29K ep:69 epch:0.11 loss:0.010 grdn:0.203 lr:5.0e-05 updt_s:0.090 data_s:0.006
40
+ Training: 2%|▊ | 479/25000 [00:59<40:58, 9.97step/s]INFO 2026-05-20 17:39:56 ot_train.py:488 step:480 smpl:31K ep:72 epch:0.11 loss:0.009 grdn:0.182 lr:5.0e-05 updt_s:0.088 data_s:0.010
41
+ Training: 2%|▊ | 499/25000 [01:01<40:35, 10.06step/s]INFO 2026-05-20 17:39:58 ot_train.py:488 step:500 smpl:32K ep:75 epch:0.12 loss:0.010 grdn:0.199 lr:5.0e-05 updt_s:0.086 data_s:0.013
42
+ Training: 2%|▊ | 519/25000 [01:03<41:43, 9.78step/s]INFO 2026-05-20 17:40:00 ot_train.py:488 step:520 smpl:33K ep:78 epch:0.12 loss:0.010 grdn:0.183 lr:5.0e-05 updt_s:0.088 data_s:0.008
43
+ Training: 2%|▊ | 539/25000 [01:05<39:19, 10.37step/s]INFO 2026-05-20 17:40:01 ot_train.py:488 step:540 smpl:35K ep:81 epch:0.13 loss:0.010 grdn:0.175 lr:5.0e-05 updt_s:0.085 data_s:0.008
44
+ Training: 2%|▉ | 559/25000 [01:07<41:42, 9.76step/s]INFO 2026-05-20 17:40:03 ot_train.py:488 step:560 smpl:36K ep:84 epch:0.13 loss:0.011 grdn:0.197 lr:5.0e-05 updt_s:0.087 data_s:0.010
45
+ Training: 2%|▉ | 579/25000 [01:09<43:55, 9.27step/s]INFO 2026-05-20 17:40:05 ot_train.py:488 step:580 smpl:37K ep:87 epch:0.14 loss:0.010 grdn:0.187 lr:5.0e-05 updt_s:0.091 data_s:0.008
46
+ Training: 2%|▉ | 600/25000 [01:11<43:34, 9.33step/s]INFO 2026-05-20 17:40:08 ot_train.py:488 step:600 smpl:38K ep:90 epch:0.14 loss:0.009 grdn:0.167 lr:5.0e-05 updt_s:0.092 data_s:0.010
47
+ Training: 2%|▉ | 619/25000 [01:13<43:01, 9.44step/s]INFO 2026-05-20 17:40:09 ot_train.py:488 step:620 smpl:40K ep:93 epch:0.15 loss:0.010 grdn:0.184 lr:5.0e-05 updt_s:0.089 data_s:0.006
48
+ Training: 3%|█ | 640/25000 [01:15<36:44, 11.05step/s]INFO 2026-05-20 17:40:11 ot_train.py:488 step:640 smpl:41K ep:96 epch:0.15 loss:0.010 grdn:0.193 lr:5.0e-05 updt_s:0.090 data_s:0.010
49
+ Training: 3%|█ | 660/25000 [01:17<39:10, 10.35step/s]INFO 2026-05-20 17:40:13 ot_train.py:488 step:660 smpl:42K ep:99 epch:0.16 loss:0.010 grdn:0.180 lr:5.0e-05 updt_s:0.089 data_s:0.009
50
+ Training: 3%|█ | 680/25000 [01:19<38:31, 10.52step/s]INFO 2026-05-20 17:40:15 ot_train.py:488 step:680 smpl:44K ep:102 epch:0.16 loss:0.010 grdn:0.196 lr:5.0e-05 updt_s:0.088 data_s:0.008
51
+ Training: 3%|█ | 700/25000 [01:21<39:56, 10.14step/s]INFO 2026-05-20 17:40:17 ot_train.py:488 step:700 smpl:45K ep:105 epch:0.17 loss:0.010 grdn:0.194 lr:5.0e-05 updt_s:0.087 data_s:0.011
52
+ Training: 3%|█▏ | 720/25000 [01:22<38:36, 10.48step/s]INFO 2026-05-20 17:40:19 ot_train.py:488 step:720 smpl:46K ep:108 epch:0.17 loss:0.010 grdn:0.207 lr:5.0e-05 updt_s:0.086 data_s:0.008
53
+ Training: 3%|█▏ | 740/25000 [01:24<38:19, 10.55step/s]INFO 2026-05-20 17:40:21 ot_train.py:488 step:740 smpl:47K ep:111 epch:0.18 loss:0.009 grdn:0.192 lr:5.0e-05 updt_s:0.090 data_s:0.008
54
+ Training: 3%|█▏ | 760/25000 [01:26<40:11, 10.05step/s]INFO 2026-05-20 17:40:23 ot_train.py:488 step:760 smpl:49K ep:114 epch:0.18 loss:0.009 grdn:0.185 lr:5.0e-05 updt_s:0.085 data_s:0.012
55
+ Training: 3%|█▏ | 779/25000 [01:28<39:36, 10.19step/s]INFO 2026-05-20 17:40:25 ot_train.py:488 step:780 smpl:50K ep:117 epch:0.19 loss:0.009 grdn:0.193 lr:5.0e-05 updt_s:0.090 data_s:0.012
56
+ Training: 3%|█▎ | 799/25000 [01:30<40:31, 9.95step/s]INFO 2026-05-20 17:40:27 ot_train.py:488 step:800 smpl:51K ep:120 epch:0.19 loss:0.011 grdn:0.211 lr:5.0e-05 updt_s:0.084 data_s:0.012
57
+ Training: 3%|█▎ | 820/25000 [01:32<38:47, 10.39step/s]INFO 2026-05-20 17:40:29 ot_train.py:488 step:820 smpl:52K ep:123 epch:0.20 loss:0.010 grdn:0.207 lr:5.0e-05 updt_s:0.088 data_s:0.008
58
+ Training: 3%|█▎ | 840/25000 [01:34<37:25, 10.76step/s]INFO 2026-05-20 17:40:31 ot_train.py:488 step:840 smpl:54K ep:126 epch:0.20 loss:0.009 grdn:0.182 lr:5.0e-05 updt_s:0.089 data_s:0.007
59
+ Training: 3%|█▍ | 860/25000 [01:36<39:27, 10.20step/s]INFO 2026-05-20 17:40:33 ot_train.py:488 step:860 smpl:55K ep:129 epch:0.21 loss:0.010 grdn:0.197 lr:5.0e-05 updt_s:0.088 data_s:0.008
60
+ Training: 4%|█▍ | 879/25000 [01:38<38:21, 10.48step/s]INFO 2026-05-20 17:40:35 ot_train.py:488 step:880 smpl:56K ep:132 epch:0.21 loss:0.011 grdn:0.202 lr:5.0e-05 updt_s:0.088 data_s:0.012
61
+ Training: 4%|█▍ | 900/25000 [01:40<38:33, 10.42step/s]INFO 2026-05-20 17:40:37 ot_train.py:488 step:900 smpl:58K ep:135 epch:0.22 loss:0.009 grdn:0.173 lr:5.0e-05 updt_s:0.091 data_s:0.006
62
+ Training: 4%|█▍ | 919/25000 [01:42<38:21, 10.46step/s]INFO 2026-05-20 17:40:39 ot_train.py:488 step:920 smpl:59K ep:138 epch:0.22 loss:0.009 grdn:0.177 lr:5.0e-05 updt_s:0.091 data_s:0.008
63
+ Training: 4%|█▌ | 939/25000 [01:44<42:06, 9.52step/s]INFO 2026-05-20 17:40:41 ot_train.py:488 step:940 smpl:60K ep:141 epch:0.22 loss:0.010 grdn:0.184 lr:5.0e-05 updt_s:0.092 data_s:0.008
64
+ Training: 4%|█▌ | 959/25000 [01:46<38:28, 10.41step/s]INFO 2026-05-20 17:40:43 ot_train.py:488 step:960 smpl:61K ep:144 epch:0.23 loss:0.010 grdn:0.189 lr:5.0e-05 updt_s:0.087 data_s:0.010
65
+ Training: 4%|█▌ | 980/25000 [01:48<38:35, 10.37step/s]INFO 2026-05-20 17:40:45 ot_train.py:488 step:980 smpl:63K ep:147 epch:0.23 loss:0.011 grdn:0.181 lr:5.0e-05 updt_s:0.087 data_s:0.013
66
+ Training: 4%|█▌ | 1000/25000 [01:50<40:43, 9.82step/s]INFO 2026-05-20 17:40:47 ot_train.py:488 step:1K smpl:64K ep:150 epch:0.24 loss:0.010 grdn:0.189 lr:5.0e-05 updt_s:0.086 data_s:0.010
67
+ Training: 4%|█▌ | 1019/25000 [01:52<38:23, 10.41step/s]INFO 2026-05-20 17:40:49 ot_train.py:488 step:1K smpl:65K ep:153 epch:0.24 loss:0.010 grdn:0.178 lr:5.0e-05 updt_s:0.092 data_s:0.008
68
+ Training: 4%|█▌ | 1040/25000 [01:54<37:34, 10.63step/s]INFO 2026-05-20 17:40:51 ot_train.py:488 step:1K smpl:67K ep:156 epch:0.25 loss:0.010 grdn:0.178 lr:5.0e-05 updt_s:0.083 data_s:0.010
69
+ Training: 4%|█▋ | 1060/25000 [01:56<40:13, 9.92step/s]INFO 2026-05-20 17:40:53 ot_train.py:488 step:1K smpl:68K ep:159 epch:0.25 loss:0.010 grdn:0.191 lr:5.0e-05 updt_s:0.089 data_s:0.009
70
+ Training: 4%|█▋ | 1079/25000 [01:58<39:35, 10.07step/s]INFO 2026-05-20 17:40:55 ot_train.py:488 step:1K smpl:69K ep:162 epch:0.26 loss:0.011 grdn:0.201 lr:5.0e-05 updt_s:0.087 data_s:0.007
71
+ Training: 4%|█▋ | 1100/25000 [02:00<40:13, 9.90step/s]INFO 2026-05-20 17:40:57 ot_train.py:488 step:1K smpl:70K ep:165 epch:0.26 loss:0.010 grdn:0.191 lr:5.0e-05 updt_s:0.089 data_s:0.010
72
+ Training: 4%|█▋ | 1119/25000 [02:02<40:14, 9.89step/s]INFO 2026-05-20 17:40:59 ot_train.py:488 step:1K smpl:72K ep:168 epch:0.27 loss:0.011 grdn:0.186 lr:5.0e-05 updt_s:0.089 data_s:0.008
73
+ Training: 5%|█▊ | 1139/25000 [02:04<37:06, 10.72step/s]INFO 2026-05-20 17:41:01 ot_train.py:488 step:1K smpl:73K ep:171 epch:0.27 loss:0.008 grdn:0.177 lr:5.0e-05 updt_s:0.085 data_s:0.009
74
+ Training: 5%|█▊ | 1159/25000 [02:06<45:46, 8.68step/s]INFO 2026-05-20 17:41:03 ot_train.py:488 step:1K smpl:74K ep:174 epch:0.28 loss:0.010 grdn:0.177 lr:5.0e-05 updt_s:0.096 data_s:0.010
75
+ Training: 5%|█▊ | 1180/25000 [02:08<42:35, 9.32step/s]INFO 2026-05-20 17:41:05 ot_train.py:488 step:1K smpl:76K ep:177 epch:0.28 loss:0.009 grdn:0.181 lr:5.0e-05 updt_s:0.087 data_s:0.008
76
+ Training: 5%|█▊ | 1200/25000 [02:10<39:03, 10.16step/s]INFO 2026-05-20 17:41:07 ot_train.py:488 step:1K smpl:77K ep:180 epch:0.29 loss:0.009 grdn:0.193 lr:5.0e-05 updt_s:0.091 data_s:0.006
77
+ Training: 5%|█▉ | 1220/25000 [02:12<38:14, 10.36step/s]INFO 2026-05-20 17:41:09 ot_train.py:488 step:1K smpl:78K ep:183 epch:0.29 loss:0.010 grdn:0.194 lr:5.0e-05 updt_s:0.095 data_s:0.007
78
+ Training: 5%|█▉ | 1240/25000 [02:14<39:18, 10.07step/s]INFO 2026-05-20 17:41:11 ot_train.py:488 step:1K smpl:79K ep:186 epch:0.30 loss:0.009 grdn:0.174 lr:5.0e-05 updt_s:0.091 data_s:0.008
79
+ Training: 5%|█▉ | 1260/25000 [02:16<39:13, 10.09step/s]INFO 2026-05-20 17:41:13 ot_train.py:488 step:1K smpl:81K ep:189 epch:0.30 loss:0.010 grdn:0.195 lr:5.0e-05 updt_s:0.089 data_s:0.011
80
+ Training: 5%|█▉ | 1279/25000 [02:18<40:45, 9.70step/s]INFO 2026-05-20 17:41:15 ot_train.py:488 step:1K smpl:82K ep:192 epch:0.31 loss:0.010 grdn:0.167 lr:5.0e-05 updt_s:0.090 data_s:0.008
81
+ Training: 5%|██ | 1299/25000 [02:20<41:22, 9.55step/s]INFO 2026-05-20 17:41:17 ot_train.py:488 step:1K smpl:83K ep:195 epch:0.31 loss:0.010 grdn:0.180 lr:5.0e-05 updt_s:0.089 data_s:0.007
82
+ Training: 5%|██ | 1319/25000 [02:22<40:22, 9.78step/s]INFO 2026-05-20 17:41:19 ot_train.py:488 step:1K smpl:84K ep:198 epch:0.32 loss:0.011 grdn:0.201 lr:5.0e-05 updt_s:0.090 data_s:0.007
83
+ Training: 5%|██ | 1340/25000 [02:24<37:43, 10.45step/s]INFO 2026-05-20 17:41:21 ot_train.py:488 step:1K smpl:86K ep:201 epch:0.32 loss:0.011 grdn:0.209 lr:5.0e-05 updt_s:0.088 data_s:0.010
84
+ Training: 5%|██ | 1360/25000 [02:26<37:34, 10.49step/s]INFO 2026-05-20 17:41:23 ot_train.py:488 step:1K smpl:87K ep:204 epch:0.32 loss:0.010 grdn:0.190 lr:5.0e-05 updt_s:0.090 data_s:0.010
85
+ Training: 6%|██▏ | 1380/25000 [02:28<39:18, 10.01step/s]INFO 2026-05-20 17:41:25 ot_train.py:488 step:1K smpl:88K ep:207 epch:0.33 loss:0.011 grdn:0.191 lr:5.0e-05 updt_s:0.088 data_s:0.011
86
+ Training: 6%|██▏ | 1400/25000 [02:30<37:50, 10.39step/s]INFO 2026-05-20 17:41:27 ot_train.py:488 step:1K smpl:90K ep:210 epch:0.33 loss:0.009 grdn:0.173 lr:5.0e-05 updt_s:0.090 data_s:0.009
87
+ Training: 6%|██▏ | 1419/25000 [02:32<39:22, 9.98step/s]INFO 2026-05-20 17:41:29 ot_train.py:488 step:1K smpl:91K ep:213 epch:0.34 loss:0.010 grdn:0.181 lr:5.0e-05 updt_s:0.093 data_s:0.006
88
+ Training: 6%|██▏ | 1439/25000 [02:34<41:19, 9.50step/s]INFO 2026-05-20 17:41:31 ot_train.py:488 step:1K smpl:92K ep:216 epch:0.34 loss:0.010 grdn:0.160 lr:5.0e-05 updt_s:0.086 data_s:0.011
89
+ Training: 6%|██▎ | 1460/25000 [02:36<39:44, 9.87step/s]INFO 2026-05-20 17:41:33 ot_train.py:488 step:1K smpl:93K ep:219 epch:0.35 loss:0.010 grdn:0.170 lr:5.0e-05 updt_s:0.089 data_s:0.010
90
+ Training: 6%|██▎ | 1479/25000 [02:38<36:57, 10.61step/s]INFO 2026-05-20 17:41:35 ot_train.py:488 step:1K smpl:95K ep:222 epch:0.35 loss:0.008 grdn:0.169 lr:5.0e-05 updt_s:0.092 data_s:0.008
91
+ Training: 6%|██▎ | 1500/25000 [02:40<40:28, 9.68step/s]INFO 2026-05-20 17:41:37 ot_train.py:488 step:2K smpl:96K ep:225 epch:0.36 loss:0.009 grdn:0.182 lr:5.0e-05 updt_s:0.093 data_s:0.007
92
+ Training: 6%|██▎ | 1519/25000 [02:42<39:47, 9.84step/s]INFO 2026-05-20 17:41:39 ot_train.py:488 step:2K smpl:97K ep:228 epch:0.36 loss:0.009 grdn:0.167 lr:5.0e-05 updt_s:0.085 data_s:0.011
93
+ Training: 6%|██▍ | 1540/25000 [02:44<40:37, 9.62step/s]INFO 2026-05-20 17:41:41 ot_train.py:488 step:2K smpl:99K ep:231 epch:0.37 loss:0.009 grdn:0.162 lr:5.0e-05 updt_s:0.091 data_s:0.010
94
+ Training: 6%|██▍ | 1560/25000 [02:46<38:19, 10.20step/s]INFO 2026-05-20 17:41:43 ot_train.py:488 step:2K smpl:100K ep:234 epch:0.37 loss:0.010 grdn:0.205 lr:5.0e-05 updt_s:0.089 data_s:0.008
95
+ Training: 6%|██▍ | 1580/25000 [02:48<40:05, 9.74step/s]INFO 2026-05-20 17:41:45 ot_train.py:488 step:2K smpl:101K ep:237 epch:0.38 loss:0.008 grdn:0.175 lr:5.0e-05 updt_s:0.092 data_s:0.011
96
+ Training: 6%|██▍ | 1600/25000 [02:50<38:07, 10.23step/s]INFO 2026-05-20 17:41:47 ot_train.py:488 step:2K smpl:102K ep:240 epch:0.38 loss:0.010 grdn:0.185 lr:5.0e-05 updt_s:0.090 data_s:0.008
97
+ Training: 6%|██▌ | 1619/25000 [02:52<39:48, 9.79step/s]INFO 2026-05-20 17:41:49 ot_train.py:488 step:2K smpl:104K ep:243 epch:0.39 loss:0.010 grdn:0.210 lr:5.0e-05 updt_s:0.088 data_s:0.011
98
+ Training: 7%|██▌ | 1640/25000 [02:54<36:12, 10.75step/s]INFO 2026-05-20 17:41:51 ot_train.py:488 step:2K smpl:105K ep:246 epch:0.39 loss:0.009 grdn:0.192 lr:5.0e-05 updt_s:0.089 data_s:0.008
99
+ Training: 7%|██▌ | 1660/25000 [02:56<37:26, 10.39step/s]INFO 2026-05-20 17:41:53 ot_train.py:488 step:2K smpl:106K ep:249 epch:0.40 loss:0.009 grdn:0.176 lr:5.0e-05 updt_s:0.089 data_s:0.010
100
+ Training: 7%|██▌ | 1679/25000 [02:58<38:42, 10.04step/s]INFO 2026-05-20 17:41:55 ot_train.py:488 step:2K smpl:108K ep:252 epch:0.40 loss:0.010 grdn:0.184 lr:5.0e-05 updt_s:0.086 data_s:0.009
101
+ Training: 7%|██▋ | 1700/25000 [03:00<39:06, 9.93step/s]INFO 2026-05-20 17:41:57 ot_train.py:488 step:2K smpl:109K ep:255 epch:0.41 loss:0.010 grdn:0.177 lr:4.9e-05 updt_s:0.094 data_s:0.006
102
+ Training: 7%|██▋ | 1720/25000 [03:02<36:02, 10.76step/s]INFO 2026-05-20 17:41:59 ot_train.py:488 step:2K smpl:110K ep:258 epch:0.41 loss:0.010 grdn:0.181 lr:4.9e-05 updt_s:0.090 data_s:0.007
103
+ Training: 7%|██▋ | 1739/25000 [03:04<39:29, 9.81step/s]INFO 2026-05-20 17:42:01 ot_train.py:488 step:2K smpl:111K ep:261 epch:0.42 loss:0.009 grdn:0.178 lr:4.9e-05 updt_s:0.090 data_s:0.010
104
+ Training: 7%|██▋ | 1760/25000 [03:06<36:17, 10.67step/s]INFO 2026-05-20 17:42:03 ot_train.py:488 step:2K smpl:113K ep:264 epch:0.42 loss:0.011 grdn:0.194 lr:4.9e-05 updt_s:0.091 data_s:0.006
105
+ Training: 7%|██▊ | 1780/25000 [03:08<34:57, 11.07step/s]INFO 2026-05-20 17:42:05 ot_train.py:488 step:2K smpl:114K ep:267 epch:0.43 loss:0.011 grdn:0.198 lr:4.9e-05 updt_s:0.083 data_s:0.009
106
+ Training: 7%|██▊ | 1799/25000 [03:10<38:44, 9.98step/s]INFO 2026-05-20 17:42:07 ot_train.py:488 step:2K smpl:115K ep:270 epch:0.43 loss:0.010 grdn:0.180 lr:4.9e-05 updt_s:0.092 data_s:0.009
107
+ Training: 7%|██▊ | 1820/25000 [03:12<37:39, 10.26step/s]INFO 2026-05-20 17:42:09 ot_train.py:488 step:2K smpl:116K ep:273 epch:0.43 loss:0.009 grdn:0.167 lr:4.9e-05 updt_s:0.089 data_s:0.008
108
+ Training: 7%|██▊ | 1840/25000 [03:14<35:10, 10.97step/s]INFO 2026-05-20 17:42:11 ot_train.py:488 step:2K smpl:118K ep:276 epch:0.44 loss:0.010 grdn:0.188 lr:4.9e-05 updt_s:0.090 data_s:0.009
109
+ Training: 7%|██▉ | 1860/25000 [03:16<40:23, 9.55step/s]INFO 2026-05-20 17:42:13 ot_train.py:488 step:2K smpl:119K ep:279 epch:0.44 loss:0.010 grdn:0.218 lr:4.9e-05 updt_s:0.094 data_s:0.006
110
+ Training: 8%|██▉ | 1879/25000 [03:18<36:33, 10.54step/s]INFO 2026-05-20 17:42:15 ot_train.py:488 step:2K smpl:120K ep:282 epch:0.45 loss:0.010 grdn:0.189 lr:4.9e-05 updt_s:0.089 data_s:0.011
111
+ Training: 8%|██▉ | 1899/25000 [03:20<39:15, 9.81step/s]INFO 2026-05-20 17:42:17 ot_train.py:488 step:2K smpl:122K ep:285 epch:0.45 loss:0.009 grdn:0.183 lr:4.9e-05 updt_s:0.089 data_s:0.009
112
+ Training: 8%|██▉ | 1919/25000 [03:22<38:11, 10.07step/s]INFO 2026-05-20 17:42:19 ot_train.py:488 step:2K smpl:123K ep:288 epch:0.46 loss:0.009 grdn:0.160 lr:4.9e-05 updt_s:0.085 data_s:0.009
113
+ Training: 8%|███ | 1940/25000 [03:24<37:10, 10.34step/s]INFO 2026-05-20 17:42:21 ot_train.py:488 step:2K smpl:124K ep:291 epch:0.46 loss:0.009 grdn:0.173 lr:4.9e-05 updt_s:0.087 data_s:0.008
114
+ Training: 8%|███ | 1960/25000 [03:26<40:06, 9.57step/s]INFO 2026-05-20 17:42:23 ot_train.py:488 step:2K smpl:125K ep:294 epch:0.47 loss:0.010 grdn:0.172 lr:4.9e-05 updt_s:0.084 data_s:0.015
115
+ Training: 8%|███ | 1979/25000 [03:28<38:29, 9.97step/s]INFO 2026-05-20 17:42:25 ot_train.py:488 step:2K smpl:127K ep:297 epch:0.47 loss:0.009 grdn:0.175 lr:4.9e-05 updt_s:0.088 data_s:0.010
116
+ Training: 8%|███ | 2000/25000 [03:30<37:05, 10.33step/s]INFO 2026-05-20 17:42:27 ot_train.py:488 step:2K smpl:128K ep:300 epch:0.48 loss:0.010 grdn:0.190 lr:4.9e-05 updt_s:0.088 data_s:0.006
117
+ INFO 2026-05-20 17:42:27 ot_train.py:502 Checkpoint policy after step 2000
118
+ Training: 8%|███▏ | 2020/25000 [03:40<54:03, 7.08step/s]INFO 2026-05-20 17:42:37 ot_train.py:488 step:2K smpl:129K ep:303 epch:0.48 loss:0.010 grdn:0.184 lr:4.9e-05 updt_s:0.074 data_s:0.006
119
+ Training: 8%|███▏ | 2040/25000 [03:42<36:40, 10.43step/s]INFO 2026-05-20 17:42:39 ot_train.py:488 step:2K smpl:131K ep:306 epch:0.49 loss:0.009 grdn:0.179 lr:4.9e-05 updt_s:0.089 data_s:0.011
120
+ Training: 8%|███▏ | 2060/25000 [03:44<36:26, 10.49step/s]INFO 2026-05-20 17:42:41 ot_train.py:488 step:2K smpl:132K ep:309 epch:0.49 loss:0.011 grdn:0.188 lr:4.9e-05 updt_s:0.090 data_s:0.006
121
+ Training: 8%|███▏ | 2080/25000 [03:46<35:41, 10.70step/s]INFO 2026-05-20 17:42:43 ot_train.py:488 step:2K smpl:133K ep:312 epch:0.50 loss:0.010 grdn:0.180 lr:4.9e-05 updt_s:0.086 data_s:0.008
122
+ Training: 8%|███▎ | 2100/25000 [03:48<35:47, 10.66step/s]INFO 2026-05-20 17:42:45 ot_train.py:488 step:2K smpl:134K ep:315 epch:0.50 loss:0.010 grdn:0.181 lr:4.9e-05 updt_s:0.088 data_s:0.008
123
+ Training: 8%|███▎ | 2120/25000 [03:50<35:46, 10.66step/s]INFO 2026-05-20 17:42:47 ot_train.py:488 step:2K smpl:136K ep:318 epch:0.51 loss:0.009 grdn:0.172 lr:4.9e-05 updt_s:0.088 data_s:0.008
124
+ Training: 9%|███▎ | 2140/25000 [03:52<37:25, 10.18step/s]INFO 2026-05-20 17:42:49 ot_train.py:488 step:2K smpl:137K ep:321 epch:0.51 loss:0.011 grdn:0.197 lr:4.9e-05 updt_s:0.089 data_s:0.007
125
+ Training: 9%|███▎ | 2160/25000 [03:54<32:46, 11.61step/s]INFO 2026-05-20 17:42:51 ot_train.py:488 step:2K smpl:138K ep:324 epch:0.52 loss:0.010 grdn:0.180 lr:4.9e-05 updt_s:0.082 data_s:0.010
126
+ Training: 9%|███▍ | 2180/25000 [03:56<40:08, 9.47step/s]INFO 2026-05-20 17:42:53 ot_train.py:488 step:2K smpl:140K ep:327 epch:0.52 loss:0.010 grdn:0.179 lr:4.9e-05 updt_s:0.091 data_s:0.006
127
+ Training: 9%|███▍ | 2200/25000 [03:58<36:17, 10.47step/s]INFO 2026-05-20 17:42:54 ot_train.py:488 step:2K smpl:141K ep:330 epch:0.53 loss:0.011 grdn:0.212 lr:4.9e-05 updt_s:0.088 data_s:0.009
128
+ Training: 9%|███▍ | 2220/25000 [04:00<38:51, 9.77step/s]INFO 2026-05-20 17:42:56 ot_train.py:488 step:2K smpl:142K ep:333 epch:0.53 loss:0.010 grdn:0.187 lr:4.9e-05 updt_s:0.089 data_s:0.009
129
+ Training: 9%|███▍ | 2239/25000 [04:01<36:49, 10.30step/s]INFO 2026-05-20 17:42:58 ot_train.py:488 step:2K smpl:143K ep:336 epch:0.54 loss:0.009 grdn:0.168 lr:4.9e-05 updt_s:0.087 data_s:0.008
130
+ Training: 9%|███▌ | 2259/25000 [04:03<36:32, 10.37step/s]INFO 2026-05-20 17:43:00 ot_train.py:488 step:2K smpl:145K ep:339 epch:0.54 loss:0.010 grdn:0.190 lr:4.9e-05 updt_s:0.089 data_s:0.007
131
+ Training: 9%|███▌ | 2279/25000 [04:05<37:41, 10.05step/s]INFO 2026-05-20 17:43:02 ot_train.py:488 step:2K smpl:146K ep:342 epch:0.54 loss:0.010 grdn:0.184 lr:4.9e-05 updt_s:0.090 data_s:0.007
132
+ Training: 9%|███▌ | 2299/25000 [04:07<35:38, 10.62step/s]INFO 2026-05-20 17:43:04 ot_train.py:488 step:2K smpl:147K ep:345 epch:0.55 loss:0.011 grdn:0.188 lr:4.9e-05 updt_s:0.090 data_s:0.006
133
+ Training: 9%|███▌ | 2319/25000 [04:09<36:38, 10.31step/s]INFO 2026-05-20 17:43:06 ot_train.py:488 step:2K smpl:148K ep:348 epch:0.55 loss:0.010 grdn:0.171 lr:4.9e-05 updt_s:0.088 data_s:0.010
134
+ Training: 9%|███▋ | 2339/25000 [04:11<35:12, 10.73step/s]INFO 2026-05-20 17:43:08 ot_train.py:488 step:2K smpl:150K ep:351 epch:0.56 loss:0.010 grdn:0.170 lr:4.9e-05 updt_s:0.090 data_s:0.006
135
+ Training: 9%|███▋ | 2359/25000 [04:13<36:52, 10.23step/s]INFO 2026-05-20 17:43:10 ot_train.py:488 step:2K smpl:151K ep:354 epch:0.56 loss:0.010 grdn:0.176 lr:4.9e-05 updt_s:0.089 data_s:0.007
136
+ Training: 10%|███▋ | 2379/25000 [04:15<36:28, 10.34step/s]INFO 2026-05-20 17:43:12 ot_train.py:488 step:2K smpl:152K ep:357 epch:0.57 loss:0.010 grdn:0.178 lr:4.9e-05 updt_s:0.090 data_s:0.007
137
+ Training: 10%|███▋ | 2399/25000 [04:17<40:00, 9.42step/s]INFO 2026-05-20 17:43:14 ot_train.py:488 step:2K smpl:154K ep:360 epch:0.57 loss:0.009 grdn:0.168 lr:4.9e-05 updt_s:0.091 data_s:0.010
138
+ Training: 10%|███▊ | 2419/25000 [04:19<38:05, 9.88step/s]INFO 2026-05-20 17:43:16 ot_train.py:488 step:2K smpl:155K ep:363 epch:0.58 loss:0.010 grdn:0.174 lr:4.9e-05 updt_s:0.089 data_s:0.010
139
+ Training: 10%|███▊ | 2439/25000 [04:21<35:27, 10.61step/s]INFO 2026-05-20 17:43:18 ot_train.py:488 step:2K smpl:156K ep:366 epch:0.58 loss:0.009 grdn:0.171 lr:4.9e-05 updt_s:0.089 data_s:0.007
140
+ Training: 10%|███▊ | 2460/25000 [04:23<36:57, 10.16step/s]INFO 2026-05-20 17:43:20 ot_train.py:488 step:2K smpl:157K ep:369 epch:0.59 loss:0.010 grdn:0.170 lr:4.9e-05 updt_s:0.090 data_s:0.009
141
+ Training: 10%|███▊ | 2480/25000 [04:25<35:33, 10.55step/s]INFO 2026-05-20 17:43:22 ot_train.py:488 step:2K smpl:159K ep:372 epch:0.59 loss:0.009 grdn:0.170 lr:4.9e-05 updt_s:0.086 data_s:0.009
142
+ Training: 10%|███▉ | 2500/25000 [04:27<34:09, 10.98step/s]INFO 2026-05-20 17:43:24 ot_train.py:488 step:2K smpl:160K ep:375 epch:0.60 loss:0.010 grdn:0.190 lr:4.9e-05 updt_s:0.089 data_s:0.010
143
+ Training: 10%|███▉ | 2520/25000 [04:29<34:52, 10.74step/s]INFO 2026-05-20 17:43:26 ot_train.py:488 step:3K smpl:161K ep:378 epch:0.60 loss:0.009 grdn:0.179 lr:4.9e-05 updt_s:0.087 data_s:0.008
144
+ Training: 10%|███▉ | 2539/25000 [04:31<36:52, 10.15step/s]INFO 2026-05-20 17:43:28 ot_train.py:488 step:3K smpl:163K ep:381 epch:0.61 loss:0.010 grdn:0.184 lr:4.9e-05 updt_s:0.092 data_s:0.007
145
+ Training: 10%|███▉ | 2560/25000 [04:33<36:26, 10.26step/s]INFO 2026-05-20 17:43:30 ot_train.py:488 step:3K smpl:164K ep:384 epch:0.61 loss:0.009 grdn:0.184 lr:4.9e-05 updt_s:0.086 data_s:0.012
146
+ Training: 10%|████ | 2579/25000 [04:35<38:44, 9.65step/s]INFO 2026-05-20 17:43:32 ot_train.py:488 step:3K smpl:165K ep:387 epch:0.62 loss:0.009 grdn:0.167 lr:4.9e-05 updt_s:0.088 data_s:0.007
147
+ Training: 10%|████ | 2599/25000 [04:37<35:06, 10.63step/s]INFO 2026-05-20 17:43:34 ot_train.py:488 step:3K smpl:166K ep:390 epch:0.62 loss:0.009 grdn:0.179 lr:4.9e-05 updt_s:0.091 data_s:0.007
148
+ Training: 10%|████ | 2619/25000 [04:39<37:46, 9.88step/s]INFO 2026-05-20 17:43:36 ot_train.py:488 step:3K smpl:168K ep:393 epch:0.63 loss:0.009 grdn:0.174 lr:4.9e-05 updt_s:0.091 data_s:0.008
149
+ Training: 11%|████ | 2639/25000 [04:41<35:19, 10.55step/s]INFO 2026-05-20 17:43:38 ot_train.py:488 step:3K smpl:169K ep:396 epch:0.63 loss:0.011 grdn:0.185 lr:4.9e-05 updt_s:0.087 data_s:0.010
150
+ Training: 11%|████▏ | 2659/25000 [04:43<36:57, 10.08step/s]INFO 2026-05-20 17:43:40 ot_train.py:488 step:3K smpl:170K ep:399 epch:0.64 loss:0.009 grdn:0.166 lr:4.9e-05 updt_s:0.082 data_s:0.011
151
+ Training: 11%|████▏ | 2679/25000 [04:45<35:53, 10.37step/s]INFO 2026-05-20 17:43:42 ot_train.py:488 step:3K smpl:172K ep:402 epch:0.64 loss:0.009 grdn:0.168 lr:4.9e-05 updt_s:0.087 data_s:0.011
152
+ Training: 11%|████▏ | 2700/25000 [04:47<37:15, 9.98step/s]INFO 2026-05-20 17:43:44 ot_train.py:488 step:3K smpl:173K ep:405 epch:0.65 loss:0.009 grdn:0.168 lr:4.9e-05 updt_s:0.087 data_s:0.014
153
+ Training: 11%|████▏ | 2720/25000 [04:49<36:38, 10.13step/s]INFO 2026-05-20 17:43:46 ot_train.py:488 step:3K smpl:174K ep:408 epch:0.65 loss:0.010 grdn:0.183 lr:4.9e-05 updt_s:0.093 data_s:0.007
154
+ Training: 11%|████▎ | 2739/25000 [04:51<36:08, 10.26step/s]INFO 2026-05-20 17:43:48 ot_train.py:488 step:3K smpl:175K ep:411 epch:0.65 loss:0.008 grdn:0.161 lr:4.9e-05 updt_s:0.088 data_s:0.010
155
+ Training: 11%|████▎ | 2760/25000 [04:53<38:01, 9.75step/s]INFO 2026-05-20 17:43:50 ot_train.py:488 step:3K smpl:177K ep:414 epch:0.66 loss:0.009 grdn:0.174 lr:4.9e-05 updt_s:0.095 data_s:0.006
156
+ Training: 11%|████▎ | 2780/25000 [04:55<34:43, 10.67step/s]INFO 2026-05-20 17:43:52 ot_train.py:488 step:3K smpl:178K ep:417 epch:0.66 loss:0.009 grdn:0.171 lr:4.9e-05 updt_s:0.087 data_s:0.010
157
+ Training: 11%|████▎ | 2800/25000 [04:57<34:34, 10.70step/s]INFO 2026-05-20 17:43:54 ot_train.py:488 step:3K smpl:179K ep:420 epch:0.67 loss:0.009 grdn:0.164 lr:4.9e-05 updt_s:0.089 data_s:0.009
158
+ Training: 11%|████▍ | 2820/25000 [04:59<38:08, 9.69step/s]INFO 2026-05-20 17:43:56 ot_train.py:488 step:3K smpl:180K ep:423 epch:0.67 loss:0.010 grdn:0.163 lr:4.9e-05 updt_s:0.088 data_s:0.011
159
+ Training: 11%|████▍ | 2840/25000 [05:01<36:08, 10.22step/s]INFO 2026-05-20 17:43:58 ot_train.py:488 step:3K smpl:182K ep:426 epch:0.68 loss:0.008 grdn:0.166 lr:4.9e-05 updt_s:0.091 data_s:0.008
160
+ Training: 11%|████▍ | 2860/25000 [05:03<39:03, 9.45step/s]INFO 2026-05-20 17:44:00 ot_train.py:488 step:3K smpl:183K ep:429 epch:0.68 loss:0.010 grdn:0.173 lr:4.9e-05 updt_s:0.093 data_s:0.008
161
+ Training: 12%|████▍ | 2880/25000 [05:05<37:03, 9.95step/s]INFO 2026-05-20 17:44:02 ot_train.py:488 step:3K smpl:184K ep:432 epch:0.69 loss:0.010 grdn:0.205 lr:4.8e-05 updt_s:0.088 data_s:0.008
162
+ Training: 12%|████▌ | 2900/25000 [05:07<35:12, 10.46step/s]INFO 2026-05-20 17:44:04 ot_train.py:488 step:3K smpl:186K ep:435 epch:0.69 loss:0.011 grdn:0.209 lr:4.8e-05 updt_s:0.090 data_s:0.008
163
+ Training: 12%|████▌ | 2919/25000 [05:09<35:38, 10.32step/s]INFO 2026-05-20 17:44:06 ot_train.py:488 step:3K smpl:187K ep:438 epch:0.70 loss:0.010 grdn:0.185 lr:4.8e-05 updt_s:0.087 data_s:0.012
164
+ Training: 12%|████▌ | 2940/25000 [05:11<41:25, 8.88step/s]INFO 2026-05-20 17:44:08 ot_train.py:488 step:3K smpl:188K ep:441 epch:0.70 loss:0.009 grdn:0.186 lr:4.8e-05 updt_s:0.091 data_s:0.008
165
+ Training: 12%|████▌ | 2960/25000 [05:13<35:18, 10.40step/s]INFO 2026-05-20 17:44:10 ot_train.py:488 step:3K smpl:189K ep:444 epch:0.71 loss:0.009 grdn:0.165 lr:4.8e-05 updt_s:0.084 data_s:0.011
166
+ Training: 12%|████▋ | 2980/25000 [05:15<36:08, 10.16step/s]INFO 2026-05-20 17:44:12 ot_train.py:488 step:3K smpl:191K ep:447 epch:0.71 loss:0.010 grdn:0.186 lr:4.8e-05 updt_s:0.092 data_s:0.008
167
+ Training: 12%|████▋ | 3000/25000 [05:17<35:30, 10.33step/s]INFO 2026-05-20 17:44:14 ot_train.py:488 step:3K smpl:192K ep:450 epch:0.72 loss:0.009 grdn:0.165 lr:4.8e-05 updt_s:0.089 data_s:0.009
168
+ Training: 12%|████▋ | 3020/25000 [05:19<35:12, 10.41step/s]INFO 2026-05-20 17:44:16 ot_train.py:488 step:3K smpl:193K ep:453 epch:0.72 loss:0.010 grdn:0.181 lr:4.8e-05 updt_s:0.087 data_s:0.010
169
+ Training: 12%|████▋ | 3040/25000 [05:21<35:34, 10.29step/s]INFO 2026-05-20 17:44:18 ot_train.py:488 step:3K smpl:195K ep:456 epch:0.73 loss:0.010 grdn:0.172 lr:4.8e-05 updt_s:0.088 data_s:0.008
170
+ Training: 12%|████▊ | 3060/25000 [05:23<34:16, 10.67step/s]INFO 2026-05-20 17:44:20 ot_train.py:488 step:3K smpl:196K ep:459 epch:0.73 loss:0.009 grdn:0.162 lr:4.8e-05 updt_s:0.090 data_s:0.008
171
+ Training: 12%|████▊ | 3080/25000 [05:25<37:39, 9.70step/s]INFO 2026-05-20 17:44:22 ot_train.py:488 step:3K smpl:197K ep:462 epch:0.74 loss:0.009 grdn:0.170 lr:4.8e-05 updt_s:0.091 data_s:0.009
172
+ Training: 12%|████▊ | 3099/25000 [05:27<35:56, 10.15step/s]INFO 2026-05-20 17:44:24 ot_train.py:488 step:3K smpl:198K ep:465 epch:0.74 loss:0.011 grdn:0.197 lr:4.8e-05 updt_s:0.091 data_s:0.008
173
+ Training: 12%|████▊ | 3107/25000 [05:27<34:02, 10.72step/s]
checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/files/requirements.txt ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ lerobot==0.5.2
2
+ transformers==5.5.4
3
+ pydantic_core==2.46.4
4
+ fsspec==2026.2.0
5
+ MarkupSafe==3.0.3
6
+ protobuf==7.34.1
7
+ setuptools==80.10.2
8
+ sentry-sdk==2.60.0
9
+ idna==3.13
10
+ pandas==2.3.3
11
+ packaging==25.0
12
+ h11==0.16.0
13
+ nvidia-cufft-cu12==11.3.3.83
14
+ pillow==12.2.0
15
+ toml==0.10.2
16
+ typing-inspect==0.9.0
17
+ triton==3.6.0
18
+ Jinja2==3.1.6
19
+ networkx==3.6.1
20
+ Farama-Notifications==0.0.6
21
+ cloudpickle==3.1.2
22
+ draccus==0.10.0
23
+ pyyaml-include==1.4.1
24
+ aiohttp==3.13.5
25
+ markdown-it-py==4.0.0
26
+ termcolor==3.3.0
27
+ wandb==0.27.0
28
+ shellingham==1.5.4
29
+ PyYAML==6.0.3
30
+ smmap==5.0.3
31
+ nvidia-cusparselt-cu12==0.7.1
32
+ charset-normalizer==3.4.7
33
+ multiprocess==0.70.19
34
+ tzdata==2026.2
35
+ typer==0.25.1
36
+ mypy_extensions==1.1.0
37
+ multidict==6.7.1
38
+ torch==2.10.0
39
+ Flask==3.1.3
40
+ nvidia-cusparse-cu12==12.5.8.93
41
+ GitPython==3.1.50
42
+ mdurl==0.1.2
43
+ blinker==1.9.0
44
+ itsdangerous==2.2.0
45
+ datasets==4.8.5
46
+ httpcore==1.0.9
47
+ jsonlines==4.0.0
48
+ nvidia-cusolver-cu12==11.7.3.90
49
+ cmake==4.1.3
50
+ propcache==0.5.2
51
+ Werkzeug==3.1.8
52
+ typing_extensions==4.15.0
53
+ platformdirs==4.9.6
54
+ psutil==7.2.2
55
+ dill==0.4.1
56
+ lerobot==0.5.2
57
+ xxhash==3.7.0
58
+ gymnasium==1.3.0
59
+ nvidia-cublas-cu12==12.8.4.1
60
+ opencv-python-headless==4.13.0.92
61
+ mergedeep==1.3.4
62
+ pyarrow==24.0.0
63
+ annotated-types==0.7.0
64
+ anyio==4.13.0
65
+ cuda-pathfinder==1.5.4
66
+ six==1.17.0
67
+ nvidia-cuda-runtime-cu12==12.8.90
68
+ click==8.3.3
69
+ tqdm==4.67.3
70
+ annotated-doc==0.0.4
71
+ frozenlist==1.8.0
72
+ av==15.1.0
73
+ pydantic==2.13.4
74
+ torchcodec==0.10.0
75
+ zipp==4.1.0
76
+ mpmath==1.3.0
77
+ pytz==2026.2
78
+ importlib_metadata==9.0.0
79
+ huggingface_hub==1.13.0
80
+ hf-xet==1.4.3
81
+ attrs==26.1.0
82
+ nvidia-nvjitlink-cu12==12.8.93
83
+ sympy==1.14.0
84
+ nvidia-cufile-cu12==1.13.1.3
85
+ nvidia-cudnn-cu12==9.10.2.21
86
+ diffusers==0.35.2
87
+ yarl==1.23.0
88
+ cuda-bindings==12.9.4
89
+ nvidia-cuda-cupti-cu12==12.8.90
90
+ tokenizers==0.22.2
91
+ urllib3==2.6.3
92
+ aiosignal==1.4.0
93
+ torchvision==0.25.0
94
+ httpx==0.28.1
95
+ requests==2.33.1
96
+ certifi==2026.4.22
97
+ rich==15.0.0
98
+ python-dateutil==2.9.0.post0
99
+ nvidia-nccl-cu12==2.27.5
100
+ accelerate==1.13.0
101
+ numpy==2.2.6
102
+ nvidia-nvshmem-cu12==3.4.5
103
+ nvidia-curand-cu12==10.3.9.90
104
+ gitdb==4.0.12
105
+ regex==2026.5.9
106
+ aiohappyeyeballs==2.6.1
107
+ filelock==3.29.0
108
+ Pygments==2.20.0
109
+ safetensors==0.7.0
110
+ einops==0.8.2
111
+ nvidia-nvtx-cu12==12.8.90
112
+ nvidia-cuda-nvrtc-cu12==12.8.93
113
+ typing-inspection==0.4.2
checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/files/wandb-metadata.json ADDED
@@ -0,0 +1,69 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "os": "Linux-6.8.0-90-generic-x86_64-with-glibc2.35",
3
+ "python": "CPython 3.12.13",
4
+ "startedAt": "2026-05-20T17:38:53.971402Z",
5
+ "args": [
6
+ "--policy.path=/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_523_dataset_base_from_dino_780_new_config_11H47/checkpoints/010000/pretrained_model/",
7
+ "--dataset.repo_id=local/dagger_episodes",
8
+ "--dataset.root=/home/shadeform/Desktop/robot_learning/base_new_dataset_dagger_628",
9
+ "--dataset.video_backend=pyav",
10
+ "--policy.device=cuda",
11
+ "--policy.push_to_hub=false",
12
+ "--policy.n_obs_steps=2",
13
+ "--policy.horizon=16",
14
+ "--policy.n_action_steps=8",
15
+ "--policy.vision_backbone_type=dinov2",
16
+ "--policy.vision_backbone=resnet18",
17
+ "--policy.freeze_vision_encoder=true",
18
+ "--policy.noise_scheduler_type=DDPM",
19
+ "--policy.num_train_timesteps=100",
20
+ "--policy.num_inference_steps=100",
21
+ "--policy.optimizer_lr=5e-5",
22
+ "--policy.scheduler_warmup_steps=100",
23
+ "--output_dir=/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_25000steps_20260520_173844",
24
+ "--job_name=diffusion_dagger_iter1_25000steps_20260520_173844",
25
+ "--batch_size=64",
26
+ "--steps=25000",
27
+ "--num_workers=16",
28
+ "--log_freq=20",
29
+ "--save_freq=2000",
30
+ "--eval_freq=0",
31
+ "--wandb.enable=True",
32
+ "--policy.vision_encoder_name=facebook/dinov2-small",
33
+ "--policy.resize_shape=[224,224]"
34
+ ],
35
+ "program": "/home/shadeform/Desktop/robot_learning/lerobot/.venv/bin/lerobot-train",
36
+ "codePath": ".venv/bin/lerobot-train",
37
+ "codePathLocal": ".venv/bin/lerobot-train",
38
+ "git": {
39
+ "remote": "https://github.com/michavol/lerobot.git",
40
+ "commit": "e05f33153eb69762cfab647e20a1f1a9bce051ba"
41
+ },
42
+ "root": "/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_25000steps_20260520_173844",
43
+ "host": "brev-baxch8nuw",
44
+ "executable": "/home/shadeform/Desktop/robot_learning/lerobot/.venv/bin/python3",
45
+ "cpu_count": 28,
46
+ "cpu_count_logical": 28,
47
+ "gpu": "NVIDIA H100 PCIe",
48
+ "gpu_count": 1,
49
+ "disk": {
50
+ "/": {
51
+ "total": "103865303040",
52
+ "used": "67928301568"
53
+ }
54
+ },
55
+ "memory": {
56
+ "total": "190128123904"
57
+ },
58
+ "gpu_nvidia": [
59
+ {
60
+ "name": "NVIDIA H100 PCIe",
61
+ "memoryTotal": "85520809984",
62
+ "cudaCores": 14592,
63
+ "architecture": "Hopper",
64
+ "uuid": "GPU-ce315b98-20ff-34fd-307b-fe05646f5913"
65
+ }
66
+ ],
67
+ "cudaVersion": "12.8",
68
+ "writerId": "nulhkdncyta36zoord0xwxiv61q33ll2"
69
+ }
checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/logs/debug-core.log ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {"time":"2026-05-20T17:38:54.002764399Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpcnd8fnqx/port-1855373.txt","pid":1855373,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
2
+ {"time":"2026-05-20T17:38:54.003589129Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":1855373}
3
+ {"time":"2026-05-20T17:38:54.003581968Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-1855373-1855443-2491550268/socket","Net":"unix"}}
4
+ {"time":"2026-05-20T17:38:54.188449643Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
5
+ {"time":"2026-05-20T17:38:54.193646453Z","level":"INFO","msg":"handleInformInit: received","streamId":"ql0pvhal","id":"1(@)"}
6
+ {"time":"2026-05-20T17:38:54.405234199Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"ql0pvhal","id":"1(@)"}
7
+ {"time":"2026-05-20T17:38:59.719739919Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"6i6wv3l2mq11"}
checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/logs/debug-internal.log ADDED
@@ -0,0 +1,53 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"time":"2026-05-20T17:38:54.19381067Z","level":"INFO","msg":"wandb-core"}
2
+ {"time":"2026-05-20T17:38:54.194031141Z","level":"INFO","msg":"stream: starting","core version":"0.27.0"}
3
+ {"time":"2026-05-20T17:38:54.404993256Z","level":"INFO","msg":"stream: created new stream","id":"ql0pvhal"}
4
+ {"time":"2026-05-20T17:38:54.405099626Z","level":"INFO","msg":"handler: started"}
5
+ {"time":"2026-05-20T17:38:54.405227028Z","level":"INFO","msg":"stream: started"}
6
+ {"time":"2026-05-20T17:38:54.40526198Z","level":"INFO","msg":"sender: started"}
7
+ {"time":"2026-05-20T17:38:54.405257293Z","level":"INFO","msg":"writer: started","stream_id":"ql0pvhal"}
8
+ {"time":"2026-05-20T17:38:54.716336696Z","level":"INFO","msg":"filestream: sending request","total_files":1,"console_offset":0,"console_lines":1}
9
+ {"time":"2026-05-20T17:38:54.952802541Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
10
+ {"time":"2026-05-20T17:39:09.716420051Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":0,"events_lines":1,"console_offset":1,"console_lines":16,"uploaded_len":2}
11
+ {"time":"2026-05-20T17:39:09.916465761Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
12
+ {"time":"2026-05-20T17:39:24.716711971Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":0,"history_lines":7,"events_offset":1,"events_lines":2,"console_offset":16,"console_lines":9}
13
+ {"time":"2026-05-20T17:39:24.905460935Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
14
+ {"time":"2026-05-20T17:39:39.71737447Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":7,"history_lines":7,"events_offset":3,"events_lines":2,"console_offset":24,"console_lines":8}
15
+ {"time":"2026-05-20T17:39:39.911468896Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
16
+ {"time":"2026-05-20T17:39:54.716948329Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":14,"history_lines":8,"events_offset":5,"events_lines":2,"console_offset":31,"console_lines":9}
17
+ {"time":"2026-05-20T17:39:54.871364008Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
18
+ {"time":"2026-05-20T17:40:09.716746312Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":22,"history_lines":7,"events_offset":7,"events_lines":2,"console_offset":39,"console_lines":8}
19
+ {"time":"2026-05-20T17:40:09.919147394Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
20
+ {"time":"2026-05-20T17:40:24.716980715Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":29,"history_lines":8,"events_offset":9,"events_lines":2,"console_offset":46,"console_lines":9}
21
+ {"time":"2026-05-20T17:40:24.942767262Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
22
+ {"time":"2026-05-20T17:40:39.716603054Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":37,"history_lines":8,"events_offset":11,"events_lines":2,"console_offset":54,"console_lines":8}
23
+ {"time":"2026-05-20T17:40:39.873647237Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
24
+ {"time":"2026-05-20T17:40:54.716970769Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":45,"history_lines":7,"events_offset":13,"events_lines":2,"console_offset":62,"console_lines":8}
25
+ {"time":"2026-05-20T17:40:54.880096001Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
26
+ {"time":"2026-05-20T17:41:09.716950316Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":52,"history_lines":8,"events_offset":15,"events_lines":2,"console_offset":69,"console_lines":8}
27
+ {"time":"2026-05-20T17:41:09.870875997Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
28
+ {"time":"2026-05-20T17:41:24.716886466Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":60,"history_lines":7,"events_offset":17,"events_lines":2,"console_offset":77,"console_lines":8}
29
+ {"time":"2026-05-20T17:41:24.882947063Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
30
+ {"time":"2026-05-20T17:41:39.717711189Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":67,"history_lines":8,"events_offset":19,"events_lines":2,"console_offset":84,"console_lines":9}
31
+ {"time":"2026-05-20T17:41:39.869151089Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
32
+ {"time":"2026-05-20T17:41:54.716543433Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":75,"history_lines":7,"events_offset":21,"events_lines":2,"console_offset":92,"console_lines":8}
33
+ {"time":"2026-05-20T17:41:54.880103798Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
34
+ {"time":"2026-05-20T17:42:09.717075003Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":82,"history_lines":8,"events_offset":23,"events_lines":2,"console_offset":99,"console_lines":9}
35
+ {"time":"2026-05-20T17:42:09.904515835Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
36
+ {"time":"2026-05-20T17:42:24.716862242Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":90,"history_lines":7,"events_offset":25,"events_lines":2,"console_offset":107,"console_lines":8}
37
+ {"time":"2026-05-20T17:42:24.909350958Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
38
+ {"time":"2026-05-20T17:42:39.716435689Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":97,"history_lines":4,"events_offset":27,"events_lines":2,"console_offset":114,"console_lines":6}
39
+ {"time":"2026-05-20T17:42:39.922235823Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
40
+ {"time":"2026-05-20T17:42:54.716563642Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":101,"history_lines":7,"events_offset":29,"events_lines":2,"console_offset":119,"console_lines":8}
41
+ {"time":"2026-05-20T17:42:54.883961478Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
42
+ {"time":"2026-05-20T17:43:09.717247471Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":108,"history_lines":8,"events_offset":31,"events_lines":2,"console_offset":126,"console_lines":9}
43
+ {"time":"2026-05-20T17:43:09.852082368Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
44
+ {"time":"2026-05-20T17:43:24.717000091Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":116,"history_lines":8,"events_offset":33,"events_lines":2,"console_offset":134,"console_lines":9}
45
+ {"time":"2026-05-20T17:43:25.238469202Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
46
+ {"time":"2026-05-20T17:43:39.717039645Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":124,"history_lines":7,"events_offset":35,"events_lines":2,"console_offset":142,"console_lines":8}
47
+ {"time":"2026-05-20T17:43:39.936775183Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
48
+ {"time":"2026-05-20T17:43:54.716476215Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":131,"history_lines":8,"events_offset":37,"events_lines":2,"console_offset":149,"console_lines":9}
49
+ {"time":"2026-05-20T17:43:54.909310881Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
50
+ {"time":"2026-05-20T17:44:09.71665183Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":139,"history_lines":7,"events_offset":39,"events_lines":2,"console_offset":157,"console_lines":8}
51
+ {"time":"2026-05-20T17:44:09.965260526Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
52
+ {"time":"2026-05-20T17:44:24.716640948Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":146,"history_lines":8,"events_offset":41,"events_lines":2,"console_offset":164,"console_lines":9}
53
+ {"time":"2026-05-20T17:44:24.979011599Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/logs/debug.log ADDED
@@ -0,0 +1,19 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_setup.py:_flush():81] Current SDK version is 0.27.0
2
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_setup.py:_flush():81] Configure stats pid to 1855373
3
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_setup.py:_flush():81] Loading settings from environment variables
4
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/shadeform/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_25000steps_20260520_173844/wandb/run-20260520_173853-ql0pvhal/logs/debug.log
5
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/shadeform/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_25000steps_20260520_173844/wandb/run-20260520_173853-ql0pvhal/logs/debug-internal.log
6
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_init.py:init():851] calling init triggers
7
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_init.py:init():856] wandb.init called with sweep_config: {}
8
+ config: {'dataset': {'repo_id': 'local/dagger_episodes', 'root': '/home/shadeform/Desktop/robot_learning/base_new_dataset_dagger_628', 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'same_cloth_color': False, 'tfs': {'color_jitter': {'weight': 1.5, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.7, 1.3], 'contrast': [0.7, 1.3], 'saturation': [0.4, 1.6], 'hue': [-0.5, 0.5]}}, 'grayscale': {'weight': 0.5, 'type': 'RandomGrayscale', 'kwargs': {'p': 1.0}}, 'shadow': {'weight': 0.8, 'type': 'RandomShadow', 'kwargs': {'num_shadows': [1, 2], 'intensity': [0.4, 0.7], 'blur_sigma': [4.0, 20.0]}}, 'highlight': {'weight': 0.5, 'type': 'RandomHighlight', 'kwargs': {'num_highlights': [0, 1], 'intensity': [0.2, 0.5], 'sigma': [20.0, 60.0]}}, 'gamma': {'weight': 0.7, 'type': 'RandomGamma', 'kwargs': {'gamma': [0.6, 1.4]}}, 'blur': {'weight': 0.0, 'type': 'GaussianBlur', 'kwargs': {'kernel_size': [3, 3], 'sigma': [0.1, 1.5]}}, 'jpeg': {'weight': 0.0, 'type': 'RandomJPEG', 'kwargs': {'quality': [60, 95]}}, 'crop': {'weight': 0.5, 'type': 'RandomCropPreserveSize', 'kwargs': {'scale': [0.97, 1.0], 'ratio': [0.99, 1.01]}}, 'affine': {'weight': 0.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'pyav', 'return_uint8': False, 'streaming': False}, 'env': None, 'policy': {'type': 'diffusion', 'n_obs_steps': 2, 'input_features': {'observation.state': {'type': <FeatureType.STATE: 'STATE'>, 'shape': [6]}, 'observation.images.front': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 480, 640]}}, 'output_features': {'action': {'type': <FeatureType.ACTION: 'ACTION'>, 'shape': [6]}}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': '/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_523_dataset_base_from_dino_780_new_config_11H47/checkpoints/010000/pretrained_model', 'horizon': 16, 'n_action_steps': 8, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>, 'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>}, 'drop_n_last_frames': 7, 'vision_backbone_type': 'dinov2', 'vision_encoder_name': 'facebook/dinov2-small', 'freeze_vision_encoder': True, 'vision_backbone': 'resnet18', 'resize_shape': [224, 224], 'crop_ratio': 1.0, 'crop_shape': None, 'crop_is_random': True, 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'use_group_norm': False, 'spatial_softmax_num_keypoints': 32, 'vit_pool_type': 'spatial_softmax', 'vit_feature_dim': 512, 'use_separate_rgb_encoder_per_camera': True, 'down_dims': [512, 1024, 2048], 'kernel_size': 5, 'n_groups': 8, 'diffusion_step_embed_dim': 128, 'use_film_scale_modulation': True, 'noise_scheduler_type': 'DDPM', 'num_train_timesteps': 100, 'beta_schedule': 'squaredcos_cap_v2', 'beta_start': 0.0001, 'beta_end': 0.02, 'prediction_type': 'epsilon', 'clip_sample': True, 'clip_sample_range': 1.0, 'num_inference_steps': 100, 'compile_model': False, 'compile_mode': 'reduce-overhead', 'do_mask_loss_for_padding': False, 'optimizer_lr': 5e-05, 'optimizer_betas': [0.95, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-06, 'scheduler_name': 'cosine', 'scheduler_warmup_steps': 100}, 'reward_model': None, 'output_dir': '/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_25000steps_20260520_173844', 'job_name': 'diffusion_dagger_iter1_25000steps_20260520_173844', 'resume': False, 'seed': 1000, 'cudnn_deterministic': False, 'num_workers': 16, 'batch_size': 64, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 25000, 'eval_freq': 0, 'log_freq': 20, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 2000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adam', 'lr': 5e-05, 'weight_decay': 1e-06, 'grad_clip_norm': 10.0, 'betas': [0.95, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 100, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 19, 'use_async_envs': True}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None, 'add_tags': True}, 'peft': None, 'sample_weighting': None, 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}}
9
+ 2026-05-20 17:38:53,972 INFO MainThread:1855373 [wandb_init.py:init():899] starting backend
10
+ 2026-05-20 17:38:54,188 INFO MainThread:1855373 [wandb_init.py:init():914] sending inform_init request
11
+ 2026-05-20 17:38:54,405 INFO MainThread:1855373 [wandb_init.py:init():919] backend started and connected
12
+ 2026-05-20 17:38:54,407 INFO MainThread:1855373 [wandb_init.py:init():989] updated telemetry
13
+ 2026-05-20 17:38:54,411 INFO MainThread:1855373 [wandb_init.py:init():1012] communicating run to backend with 90.0 second timeout
14
+ 2026-05-20 17:38:54,659 INFO MainThread:1855373 [wandb_init.py:init():1057] starting run threads in backend
15
+ 2026-05-20 17:38:54,712 INFO MainThread:1855373 [wandb_run.py:_console_start():2509] atexit reg
16
+ 2026-05-20 17:38:54,712 INFO MainThread:1855373 [wandb_run.py:_redirect():2359] redirect: wrap_raw
17
+ 2026-05-20 17:38:54,712 INFO MainThread:1855373 [wandb_run.py:_redirect():2428] Wrapping output streams.
18
+ 2026-05-20 17:38:54,712 INFO MainThread:1855373 [wandb_run.py:_redirect():2451] Redirects installed.
19
+ 2026-05-20 17:38:54,714 INFO MainThread:1855373 [wandb_init.py:init():1095] run started, returning control to user process
checkpoints/dagger/1iter/wandb/run-20260520_173853-ql0pvhal/run-ql0pvhal.wandb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b5fa3dd31ff43453222db10117fe901ea1ac4c88366f89cec4bb8f66f68a7460
3
+ size 393216