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checkpoints/diffusion_780_new_dataset_dino/wandb/debug-internal.log

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+{"time":"2026-05-19T10:13:28.724211551Z","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":19999,"history_lines":1,"events_offset":5052,"events_lines":2,"console_offset":20023,"console_lines":2,"uploaded_len":3}
+{"time":"2026-05-19T10:13:29.229247617Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-05-19T10:13:58.724474225Z","level":"INFO","msg":"filestream: sending request","total_files":0}
+{"time":"2026-05-19T10:13:59.007431984Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-05-19T10:14:04.048944447Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2026-05-19T10:14:04.049017298Z","level":"INFO","msg":"filestream: sending request","total_files":0,"complete":true,"exit_code":0}
+{"time":"2026-05-19T10:14:04.759384147Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-05-19T10:14:04.759536856Z","level":"INFO","msg":"stream: finishing up"}
+{"time":"2026-05-19T10:14:04.759588061Z","level":"INFO","msg":"handler: closed"}
+{"time":"2026-05-19T10:14:04.759670307Z","level":"INFO","msg":"sender: closed"}
+{"time":"2026-05-19T10:14:04.759674041Z","level":"INFO","msg":"stream: all finished"}

checkpoints/diffusion_780_new_dataset_dino/wandb/debug.log

@@ -17,3 +17,42 @@ config: {'dataset': {'repo_id': 'local/act_collected_episodes', 'root': '/home/s
 2026-05-18 23:41:30,995 INFO    MainThread:143902 [wandb_run.py:_redirect():2428] Wrapping output streams.
 2026-05-18 23:41:30,995 INFO    MainThread:143902 [wandb_run.py:_redirect():2451] Redirects installed.
 2026-05-18 23:41:30,997 INFO    MainThread:143902 [wandb_init.py:init():1095] run started, returning control to user process
+2026-05-19 10:13:20,060 INFO    wandb-AsyncioManager-main:143902 [service_client.py:_forward_responses():122] Reached EOF.
+2026-05-19 10:13:20,060 INFO    wandb-AsyncioManager-main:143902 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-05-19 10:13:22,948 ERROR   wandb-AsyncioManager-main:143902 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
+    await fn()
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 105, in loop
+    await self._poll_and_print(timeout=None)
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 133, in _poll_and_print
+    handle = await self._interface.deliver_async(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
+    handle = await self._client.deliver(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
+    handle = self._mailbox.require_response(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
+    raise MailboxClosedError()
+wandb.sdk.mailbox.mailbox.MailboxClosedError
+2026-05-19 10:13:23,899 ERROR   wandb-AsyncioManager-main:143902 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
+    await fn()
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 87, in loop
+    should_stop = await self._check_should_stop()
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 115, in _check_should_stop
+    handle = await self._interface.deliver_async(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
+    handle = await self._client.deliver(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
+    handle = self._mailbox.require_response(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
+    raise MailboxClosedError()
+wandb.sdk.mailbox.mailbox.MailboxClosedError

checkpoints/diffusion_780_new_dataset_dino/wandb/run-20260518_234130-n25456gu/files/config.yaml

@@ -0,0 +1,345 @@
+_wandb:
+    value:
+        cli_version: 0.27.0
+        e:
+            ou7khc4805o07o240k5lj7ii72ixuqb8:
+                args:
+                    - --dataset.repo_id=local/act_collected_episodes
+                    - --dataset.root=/home/shadeform/Desktop/robot_learning/aggregated_new_dataset_781
+                    - --dataset.video_backend=pyav
+                    - --policy.type=diffusion
+                    - --policy.device=cuda
+                    - --policy.push_to_hub=false
+                    - --policy.n_obs_steps=2
+                    - --policy.horizon=16
+                    - --policy.n_action_steps=8
+                    - --policy.vision_backbone_type=dinov2
+                    - --policy.vision_backbone=resnet18
+                    - --policy.freeze_vision_encoder=true
+                    - --policy.noise_scheduler_type=DDPM
+                    - --policy.num_train_timesteps=100
+                    - --policy.num_inference_steps=100
+                    - --policy.optimizer_lr=1e-4
+                    - --policy.scheduler_warmup_steps=500
+                    - --output_dir=/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_laptop_20260518_234119
+                    - --job_name=diffusion_laptop_20260518_234119
+                    - --batch_size=64
+                    - --steps=400000
+                    - --num_workers=16
+                    - --log_freq=20
+                    - --save_freq=100000
+                    - --eval_freq=0
+                    - --wandb.enable=True
+                    - --policy.vision_encoder_name=facebook/dinov2-small
+                    - --policy.resize_shape=[224,224]
+                codePath: .venv/bin/lerobot-train
+                codePathLocal: .venv/bin/lerobot-train
+                cpu_count: 14
+                cpu_count_logical: 14
+                cudaVersion: "13.0"
+                disk:
+                    /:
+                        total: "659240390656"
+                        used: "33361272832"
+                executable: /home/shadeform/Desktop/robot_learning/lerobot/.venv/bin/python3
+                git:
+                    commit: 8a6f699addba54632ae9a1f94bd51e939e6539d2
+                    remote: https://github.com/michavol/lerobot.git
+                gpu: NVIDIA A100-SXM4-80GB
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100-SXM4-80GB
+                      uuid: GPU-2f55e908-ff90-9036-01e9-72c158e752fb
+                host: brev-lnmx87ii8
+                memory:
+                    total: "105571491840"
+                os: Linux-6.8.0-90-generic-x86_64-with-glibc2.35
+                program: /home/shadeform/Desktop/robot_learning/lerobot/.venv/bin/lerobot-train
+                python: CPython 3.12.13
+                root: /home/shadeform/Desktop/robot_learning/outputs/train/diffusion_laptop_20260518_234119
+                startedAt: "2026-05-18T23:41:30.039029Z"
+                writerId: ou7khc4805o07o240k5lj7ii72ixuqb8
+        m: []
+        python_version: 3.12.13
+        t:
+            "1":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+            "2":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+            "3":
+                - 13
+                - 15
+                - 16
+                - 61
+            "4": 3.12.13
+            "5": 0.27.0
+            "6": 5.8.1
+            "10":
+                - 21
+            "12": 0.27.0
+            "13": linux-x86_64
+batch_size:
+    value: 64
+checkpoint_path:
+    value: null
+cudnn_deterministic:
+    value: false
+dataset:
+    value:
+        episodes: null
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
+            random_order: false
+            same_cloth_color: false
+            tfs:
+                affine:
+                    kwargs:
+                        degrees:
+                            - -5
+                            - 5
+                        translate:
+                            - 0.05
+                            - 0.05
+                    type: RandomAffine
+                    weight: 0
+                blur:
+                    kwargs:
+                        kernel_size:
+                            - 3
+                            - 3
+                        sigma:
+                            - 0.1
+                            - 1.5
+                    type: GaussianBlur
+                    weight: 0
+                color_jitter:
+                    kwargs:
+                        brightness:
+                            - 0.7
+                            - 1.3
+                        contrast:
+                            - 0.7
+                            - 1.3
+                        hue:
+                            - -0.5
+                            - 0.5
+                        saturation:
+                            - 0.4
+                            - 1.6
+                    type: ColorJitter
+                    weight: 1.5
+                crop:
+                    kwargs:
+                        ratio:
+                            - 0.99
+                            - 1.01
+                        scale:
+                            - 0.97
+                            - 1
+                    type: RandomCropPreserveSize
+                    weight: 0.5
+                gamma:
+                    kwargs:
+                        gamma:
+                            - 0.6
+                            - 1.4
+                    type: RandomGamma
+                    weight: 0.7
+                grayscale:
+                    kwargs:
+                        p: 1
+                    type: RandomGrayscale
+                    weight: 0.5
+                highlight:
+                    kwargs:
+                        intensity:
+                            - 0.2
+                            - 0.5
+                        num_highlights:
+                            - 0
+                            - 1
+                        sigma:
+                            - 20
+                            - 60
+                    type: RandomHighlight
+                    weight: 0.5
+                jpeg:
+                    kwargs:
+                        quality:
+                            - 60
+                            - 95
+                    type: RandomJPEG
+                    weight: 0
+                shadow:
+                    kwargs:
+                        blur_sigma:
+                            - 4
+                            - 20
+                        intensity:
+                            - 0.4
+                            - 0.7
+                        num_shadows:
+                            - 1
+                            - 2
+                    type: RandomShadow
+                    weight: 0.8
+                sharpness:
+                    kwargs:
+                        sharpness:
+                            - 0.5
+                            - 1.5
+                    type: SharpnessJitter
+                    weight: 1
+        repo_id: local/act_collected_episodes
+        return_uint8: false
+        revision: null
+        root: /home/shadeform/Desktop/robot_learning/aggregated_new_dataset_781
+        streaming: false
+        use_imagenet_stats: true
+        video_backend: pyav
+env:
+    value: null
+eval:
+    value:
+        batch_size: 9
+        n_episodes: 50
+        use_async_envs: true
+eval_freq:
+    value: 0
+job_name:
+    value: diffusion_laptop_20260518_234119
+log_freq:
+    value: 20
+num_workers:
+    value: 16
+optimizer:
+    value:
+        betas:
+            - 0.95
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 10
+        lr: 0.0001
+        type: adam
+        weight_decay: 1e-06
+output_dir:
+    value: /home/shadeform/Desktop/robot_learning/outputs/train/diffusion_laptop_20260518_234119
+peft:
+    value: null
+persistent_workers:
+    value: true
+policy:
+    value:
+        beta_end: 0.02
+        beta_schedule: squaredcos_cap_v2
+        beta_start: 0.0001
+        clip_sample: true
+        clip_sample_range: 1
+        compile_mode: reduce-overhead
+        compile_model: false
+        crop_is_random: true
+        crop_ratio: 1
+        crop_shape: null
+        device: cuda
+        diffusion_step_embed_dim: 128
+        do_mask_loss_for_padding: false
+        down_dims:
+            - 512
+            - 1024
+            - 2048
+        drop_n_last_frames: 7
+        freeze_vision_encoder: true
+        horizon: 16
+        kernel_size: 5
+        license: null
+        n_action_steps: 8
+        n_groups: 8
+        n_obs_steps: 2
+        noise_scheduler_type: DDPM
+        normalization_mapping:
+            ACTION: MIN_MAX
+            STATE: MIN_MAX
+            VISUAL: MEAN_STD
+        num_inference_steps: 100
+        num_train_timesteps: 100
+        optimizer_betas:
+            - 0.95
+            - 0.999
+        optimizer_eps: 1e-08
+        optimizer_lr: 0.0001
+        optimizer_weight_decay: 1e-06
+        prediction_type: epsilon
+        pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+        pretrained_path: null
+        private: null
+        push_to_hub: false
+        repo_id: null
+        resize_shape:
+            - 224
+            - 224
+        scheduler_name: cosine
+        scheduler_warmup_steps: 500
+        spatial_softmax_num_keypoints: 32
+        tags: null
+        type: diffusion
+        use_amp: false
+        use_film_scale_modulation: true
+        use_group_norm: false
+        use_peft: false
+        use_separate_rgb_encoder_per_camera: true
+        vision_backbone: resnet18
+        vision_backbone_type: dinov2
+        vision_encoder_name: facebook/dinov2-small
+        vit_feature_dim: 512
+        vit_pool_type: spatial_softmax
+prefetch_factor:
+    value: 4
+resume:
+    value: false
+reward_model:
+    value: null
+sample_weighting:
+    value: null
+save_checkpoint:
+    value: true
+save_freq:
+    value: 100000
+scheduler:
+    value:
+        name: cosine
+        num_warmup_steps: 500
+        type: diffuser
+seed:
+    value: 1000
+steps:
+    value: 400000
+tolerance_s:
+    value: 0.0001
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        add_tags: true
+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: null

checkpoints/diffusion_780_new_dataset_dino/wandb/run-20260518_234130-n25456gu/files/wandb-summary.json

@@ -0,0 +1 @@
+{"train/steps":400000,"_timestamp":1.7791855930910895e+09,"train/samples":25600000,"train/loss":0.005587640905287117,"train/update_s":0.08315440065089205,"train/episodes":43066.26573498875,"train/grad_norm":0.19370683394372462,"train/dataloading_s":0.012371938200521982,"_wandb":{"runtime":37909},"_runtime":37909.113977086,"train/epochs":55.14246572981915,"train/lr":1.909295477275919e-13,"_step":400000}

checkpoints/diffusion_780_new_dataset_dino/wandb/run-20260518_234130-n25456gu/logs/debug-core.log

@@ -5,3 +5,12 @@
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 {"time":"2026-05-18T23:41:36.001906905Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"ymiibj5w89qe"}
+{"time":"2026-05-19T10:13:20.05998098Z","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"1(@)"}
+{"time":"2026-05-19T10:13:20.060039721Z","level":"INFO","msg":"server is shutting down"}
+{"time":"2026-05-19T10:13:20.060059219Z","level":"INFO","msg":"connection: closing","id":"1(@)"}
+{"time":"2026-05-19T10:13:20.06011978Z","level":"INFO","msg":"connection: closed successfully","id":"1(@)"}
+{"time":"2026-05-19T10:13:20.060114652Z","level":"INFO","msg":"server: listener closed","addr":{"Name":"/tmp/wandb-143902-143961-4065712581/socket","Net":"unix"}}
+{"time":"2026-05-19T10:14:04.04895584Z","level":"ERROR","msg":"processOutgoingData: flush error","error":"write unix /tmp/wandb-143902-143961-4065712581/socket->@: use of closed network connection","id":"1(@)"}
+{"time":"2026-05-19T10:14:04.760672164Z","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"1(@)"}
+{"time":"2026-05-19T10:14:04.760707323Z","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"1(@)"}
+{"time":"2026-05-19T10:14:04.76072427Z","level":"INFO","msg":"server is closed"}

checkpoints/diffusion_780_new_dataset_dino/wandb/run-20260518_234130-n25456gu/logs/debug-internal.log

@@ -4840,3 +4840,139 @@
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+{"time":"2026-05-19T09:57:44.060887091Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
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+{"time":"2026-05-19T09:57:59.905526829Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
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+{"time":"2026-05-19T09:58:14.148656261Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
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+{"time":"2026-05-19T09:58:29.23684588Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
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+{"time":"2026-05-19T09:58:43.978530617Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
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checkpoints/diffusion_780_new_dataset_dino/wandb/run-20260518_234130-n25456gu/logs/debug.log

@@ -17,3 +17,42 @@ config: {'dataset': {'repo_id': 'local/act_collected_episodes', 'root': '/home/s
 2026-05-18 23:41:30,995 INFO    MainThread:143902 [wandb_run.py:_redirect():2428] Wrapping output streams.
 2026-05-18 23:41:30,995 INFO    MainThread:143902 [wandb_run.py:_redirect():2451] Redirects installed.
 2026-05-18 23:41:30,997 INFO    MainThread:143902 [wandb_init.py:init():1095] run started, returning control to user process
+2026-05-19 10:13:20,060 INFO    wandb-AsyncioManager-main:143902 [service_client.py:_forward_responses():122] Reached EOF.
+2026-05-19 10:13:20,060 INFO    wandb-AsyncioManager-main:143902 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-05-19 10:13:22,948 ERROR   wandb-AsyncioManager-main:143902 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
+    await fn()
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 105, in loop
+    await self._poll_and_print(timeout=None)
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 133, in _poll_and_print
+    handle = await self._interface.deliver_async(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
+    handle = await self._client.deliver(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
+    handle = self._mailbox.require_response(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
+    raise MailboxClosedError()
+wandb.sdk.mailbox.mailbox.MailboxClosedError
+2026-05-19 10:13:23,899 ERROR   wandb-AsyncioManager-main:143902 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
+    await fn()
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 87, in loop
+    should_stop = await self._check_should_stop()
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 115, in _check_should_stop
+    handle = await self._interface.deliver_async(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
+    handle = await self._client.deliver(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
+    handle = self._mailbox.require_response(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/shadeform/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
+    raise MailboxClosedError()
+wandb.sdk.mailbox.mailbox.MailboxClosedError

checkpoints/diffusion_780_new_dataset_dino/wandb/run-20260518_234130-n25456gu/run-n25456gu.wandb

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