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100%|███████████████████████████████████| 223/223 [00:00<00:00, 7132.52it/s] -Loading weights from local directory -INFO 2026-05-20 10:01:17 ot_train.py:347 Creating optimizer and scheduler -INFO 2026-05-20 10:01:17 ot_train.py:374 Output dir: /home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_302_dataset_base_from_dino_780_new_config_11H47 -INFO 2026-05-20 10:01:17 ot_train.py:381 cfg.steps=25000 (25K) -INFO 2026-05-20 10:01:17 ot_train.py:382 dataset.num_frames=181304 (181K) -INFO 2026-05-20 10:01:17 ot_train.py:383 dataset.num_episodes=302 -INFO 2026-05-20 10:01:17 ot_train.py:386 Effective batch size: 128 x 1 = 128 -INFO 2026-05-20 10:01:17 ot_train.py:387 num_learnable_params=251772134 (252M) -INFO 2026-05-20 10:01:17 ot_train.py:388 num_total_params=273828710 (274M) -Training: 0%| | 0/25000 [00:00, 'shape': [6]}, 'observation.images.front': {'type': , 'shape': [3, 480, 640]}}, 'output_features': {'action': {'type': , 'shape': [6]}}, 'device': 'cuda', 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