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+2026-05-20 00:05:53,603 INFO    MainThread:2545327 [wandb_setup.py:_flush():81] Current SDK version is 0.27.0
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+2026-05-20 00:05:53,603 INFO    MainThread:2545327 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-05-20 00:05:53,603 INFO    MainThread:2545327 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/shadeform/Desktop/robot_learning/outputs/train/diffusion_v2_dinov2_cls_mean_20260520_000542/wandb/run-20260520_000553-6chr8b99/logs/debug.log
+2026-05-20 00:05:53,604 INFO    MainThread:2545327 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/shadeform/Desktop/robot_learning/outputs/train/diffusion_v2_dinov2_cls_mean_20260520_000542/wandb/run-20260520_000553-6chr8b99/logs/debug-internal.log
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+2026-05-20 00:05:53,604 INFO    MainThread:2545327 [wandb_init.py:init():856] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'local/act_collected_episodes', 'root': '/home/shadeform/Desktop/robot_learning/aggregated_new_dataset_781', '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': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, '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-with-registers-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': 'cls_mean', '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': 0.0001, 'optimizer_betas': [0.95, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-06, 'scheduler_name': 'cosine', 'scheduler_warmup_steps': 500}, 'reward_model': None, 'output_dir': '/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_v2_dinov2_cls_mean_20260520_000542', 'job_name': 'diffusion_v2_dinov2_cls_mean_20260520_000542', 'resume': False, 'seed': 1000, 'cudnn_deterministic': False, 'num_workers': 32, 'batch_size': 64, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 400000, 'eval_freq': 0, 'log_freq': 20, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 100000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adam', 'lr': 0.0001, 'weight_decay': 1e-06, 'grad_clip_norm': 10.0, 'betas': [0.95, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 500, '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': {}}
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+2026-05-20 08:44:53,937 INFO    wandb-AsyncioManager-main:2545327 [service_client.py:_forward_responses():122] Reached EOF.
+2026-05-20 08:44:53,937 INFO    wandb-AsyncioManager-main:2545327 [mailbox.py:close():154] Closing mailbox, abandoning 1 handles.
+2026-05-20 08:44:55,002 ERROR   wandb-AsyncioManager-main:2545327 [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/dino_v2_20260520/wandb/run-20260520_000553-6chr8b99/files/config.yaml

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+_wandb:
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+        e:
+            opyihrqsxrglq5vue62qkbl4bzy2t3wc:
+                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_v2_dinov2_cls_mean_20260520_000542
+                    - --job_name=diffusion_v2_dinov2_cls_mean_20260520_000542
+                    - --batch_size=64
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+                    - --num_workers=32
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+                    - --wandb.enable=True
+                    - --policy.vision_encoder_name=facebook/dinov2-with-registers-small
+                    - --policy.resize_shape=[224,224]
+                    - --policy.vit_pool_type=cls_mean
+                    - --policy.vit_feature_dim=512
+                codePath: .venv/bin/lerobot-train
+                codePathLocal: .venv/bin/lerobot-train
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+                executable: /home/shadeform/Desktop/robot_learning/lerobot/.venv/bin/python3
+                git:
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+                    remote: https://github.com/michavol/lerobot.git
+                gpu: NVIDIA H100 PCIe
+                gpu_count: 1
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+                      memoryTotal: "85520809984"
+                      name: NVIDIA H100 PCIe
+                      uuid: GPU-f209ed33-9578-1fa4-77e4-e9e40e8fc347
+                host: brev-q0fkyzjrp
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+                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_v2_dinov2_cls_mean_20260520_000542
+                startedAt: "2026-05-20T00:05:53.602911Z"
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+        python_version: 3.12.13
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+cudnn_deterministic:
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+dataset:
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+        image_transforms:
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+        root: /home/shadeform/Desktop/robot_learning/aggregated_new_dataset_781
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+        crop_is_random: true
+        crop_ratio: 1
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+        device: cuda
+        diffusion_step_embed_dim: 128
+        do_mask_loss_for_padding: false
+        down_dims:
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+        drop_n_last_frames: 7
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+            STATE: MIN_MAX
+            VISUAL: MEAN_STD
+        num_inference_steps: 100
+        num_train_timesteps: 100
+        optimizer_betas:
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+            - 0.999
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+        optimizer_lr: 0.0001
+        optimizer_weight_decay: 1e-06
+        prediction_type: epsilon
+        pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+        pretrained_path: null
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+        tags: null
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+        use_group_norm: false
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+        vision_backbone: resnet18
+        vision_backbone_type: dinov2
+        vision_encoder_name: facebook/dinov2-with-registers-small
+        vit_feature_dim: 512
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+seed:
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+tolerance_s:
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+use_policy_training_preset:
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+wandb:
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+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: null

checkpoints/dino_v2_20260520/wandb/run-20260520_000553-6chr8b99/files/requirements.txt

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+transformers==5.5.4
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+2026-05-20 08:44:55,002 ERROR   wandb-AsyncioManager-main:2545327 [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

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