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+ {"time":"2026-05-17T23:28:21.964965449+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1410,"history_lines":11,"events_offset":279,"events_lines":2,"console_offset":1427,"console_lines":12}
291
+ {"time":"2026-05-17T23:28:22.169317316+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
292
+ {"time":"2026-05-17T23:28:36.965178448+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1421,"history_lines":10,"events_offset":281,"events_lines":2,"console_offset":1438,"console_lines":11}
293
+ {"time":"2026-05-17T23:28:37.163158531+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
294
+ {"time":"2026-05-17T23:28:51.965840745+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1431,"history_lines":10,"events_offset":283,"events_lines":2,"console_offset":1448,"console_lines":11}
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+ {"time":"2026-05-17T23:28:52.179669063+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
296
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297
+ {"time":"2026-05-17T23:29:07.183749238+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
298
+ {"time":"2026-05-17T23:29:21.96696608+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1451,"history_lines":11,"events_offset":287,"events_lines":2,"console_offset":1468,"console_lines":12}
299
+ {"time":"2026-05-17T23:29:22.161631343+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
300
+ {"time":"2026-05-17T23:29:36.965422275+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1462,"history_lines":10,"events_offset":289,"events_lines":2,"console_offset":1479,"console_lines":11}
301
+ {"time":"2026-05-17T23:29:37.179843707+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
302
+ {"time":"2026-05-17T23:29:51.965387223+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1472,"history_lines":10,"events_offset":291,"events_lines":2,"console_offset":1489,"console_lines":11}
303
+ {"time":"2026-05-17T23:29:52.172115362+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
304
+ {"time":"2026-05-17T23:30:06.964802794+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1482,"history_lines":11,"events_offset":293,"events_lines":2,"console_offset":1499,"console_lines":12}
305
+ {"time":"2026-05-17T23:30:07.173652347+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
306
+ {"time":"2026-05-17T23:30:21.965171904+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1493,"history_lines":6,"events_offset":295,"events_lines":2,"console_offset":1510,"console_lines":7}
307
+ {"time":"2026-05-17T23:30:22.214013694+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
308
+ {"time":"2026-05-17T23:30:36.965081219+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1499,"history_lines":1,"events_offset":297,"events_lines":1,"console_offset":1517,"console_lines":2,"uploaded_len":3}
309
+ {"time":"2026-05-17T23:30:37.207429546+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
310
+ {"time":"2026-05-17T23:30:58.875996275+03:00","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
311
+ {"time":"2026-05-17T23:30:58.876069457+03:00","level":"INFO","msg":"filestream: sending request","total_files":0,"complete":true,"exit_code":0}
312
+ {"time":"2026-05-17T23:30:59.073362886+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
313
+ {"time":"2026-05-17T23:30:59.073448336+03:00","level":"INFO","msg":"stream: finishing up"}
314
+ {"time":"2026-05-17T23:30:59.073455868+03:00","level":"INFO","msg":"handler: closed"}
315
+ {"time":"2026-05-17T23:30:59.073502268+03:00","level":"INFO","msg":"sender: closed"}
316
+ {"time":"2026-05-17T23:30:59.073507486+03:00","level":"INFO","msg":"stream: all finished"}
checkpoints/diffusion_dagger_iter1_20260517_225259/wandb/debug.log ADDED
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1
+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_setup.py:_flush():81] Current SDK version is 0.27.0
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+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_setup.py:_flush():81] Configure stats pid to 2752157
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+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_setup.py:_flush():81] Loading settings from environment variables
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+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/romain/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_20260517_225259/wandb/run-20260517_225306-kmyshjri/logs/debug.log
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+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/romain/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_20260517_225259/wandb/run-20260517_225306-kmyshjri/logs/debug-internal.log
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+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_init.py:init():851] calling init triggers
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+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_init.py:init():856] wandb.init called with sweep_config: {}
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+ config: {'dataset': {'repo_id': 'local/dagger_episodes', 'root': '/home/romain/Desktop/robot_learning/dataset_dagger/aggregated_dataset', '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/romain/Desktop/robot_learning/outputs/train/530_episodes_base_model/checkpoints/diffusion_unet_dino_530_episodes/200000/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, '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/romain/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_20260517_225259', 'job_name': 'diffusion_dagger_iter1_20260517_225259', 'resume': False, 'seed': 1000, 'cudnn_deterministic': False, 'num_workers': 16, 'batch_size': 64, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 30000, 'eval_freq': 0, 'log_freq': 20, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 30000, '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': 44, '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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+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_init.py:init():899] starting backend
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+ 2026-05-17 22:53:06,233 INFO MainThread:2752157 [wandb_init.py:init():914] sending inform_init request
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+ 2026-05-17 22:53:06,500 INFO MainThread:2752157 [wandb_init.py:init():989] updated telemetry
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+ 2026-05-17 22:53:06,502 INFO MainThread:2752157 [wandb_init.py:init():1012] communicating run to backend with 90.0 second timeout
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+ 2026-05-17 22:53:06,924 INFO MainThread:2752157 [wandb_init.py:init():1057] starting run threads in backend
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+ 2026-05-17 22:53:06,962 INFO MainThread:2752157 [wandb_run.py:_console_start():2509] atexit reg
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+ 2026-05-17 22:53:06,962 INFO MainThread:2752157 [wandb_run.py:_redirect():2359] redirect: wrap_raw
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+ 2026-05-17 22:53:06,962 INFO MainThread:2752157 [wandb_run.py:_redirect():2428] Wrapping output streams.
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+ 2026-05-17 22:53:06,962 INFO MainThread:2752157 [wandb_run.py:_redirect():2451] Redirects installed.
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+ 2026-05-17 22:53:06,964 INFO MainThread:2752157 [wandb_init.py:init():1095] run started, returning control to user process
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+ 2026-05-17 23:30:23,592 INFO wandb-AsyncioManager-main:2752157 [service_client.py:_forward_responses():122] Reached EOF.
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+ 2026-05-17 23:30:23,592 INFO wandb-AsyncioManager-main:2752157 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
22
+ 2026-05-17 23:30:28,105 ERROR wandb-AsyncioManager-main:2752157 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
23
+ Traceback (most recent call last):
24
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
25
+ await fn()
26
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 105, in loop
27
+ await self._poll_and_print(timeout=None)
28
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 133, in _poll_and_print
29
+ handle = await self._interface.deliver_async(request)
30
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
31
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
32
+ handle = await self._client.deliver(request)
33
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
34
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
35
+ handle = self._mailbox.require_response(request)
36
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
37
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
38
+ raise MailboxClosedError()
39
+ wandb.sdk.mailbox.mailbox.MailboxClosedError
40
+ 2026-05-17 23:30:37,680 ERROR wandb-AsyncioManager-main:2752157 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
41
+ Traceback (most recent call last):
42
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
43
+ await fn()
44
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 87, in loop
45
+ should_stop = await self._check_should_stop()
46
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
47
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 115, in _check_should_stop
48
+ handle = await self._interface.deliver_async(request)
49
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
50
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
51
+ handle = await self._client.deliver(request)
52
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
53
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
54
+ handle = self._mailbox.require_response(request)
55
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
56
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
57
+ raise MailboxClosedError()
58
+ wandb.sdk.mailbox.mailbox.MailboxClosedError
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+ - --dataset.repo_id=local/dagger_episodes
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+ - --dataset.root=/home/romain/Desktop/robot_learning/dataset_dagger/aggregated_dataset
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+ - --dataset.video_backend=pyav
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+ - --policy.device=cuda
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+ - --policy.push_to_hub=false
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+ - --policy.horizon=16
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+ - --policy.vision_backbone_type=dinov2
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+ - --policy.vision_backbone=resnet18
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+ - --policy.freeze_vision_encoder=true
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+ - --policy.noise_scheduler_type=DDPM
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+ - --policy.num_train_timesteps=100
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+ - --policy.num_inference_steps=100
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+ - --policy.optimizer_lr=5e-5
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+ - --policy.scheduler_warmup_steps=100
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+ - --output_dir=/home/romain/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_20260517_225259
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+ - --job_name=diffusion_dagger_iter1_20260517_225259
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+ - --log_freq=20
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+ disk:
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+ git:
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+ commit: ed2b66ad8e363ebc36956f5d05c37d836a3889b7
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+ remote: https://github.com/michavol/lerobot.git
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+ gpu: NVIDIA H200 NVL
49
+ gpu_count: 1
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+ gpu_nvidia:
51
+ - architecture: Hopper
52
+ cudaCores: 16896
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+ memoryTotal: "150754820096"
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+ name: NVIDIA H200 NVL
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+ uuid: GPU-89b0dd9b-b060-95fa-b167-c1bff3f7c780
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+ program: /home/romain/Desktop/robot_learning/lerobot/.venv/bin/lerobot-train
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+ python: CPython 3.12.13
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+ root: /home/romain/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_20260517_225259
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+ startedAt: "2026-05-17T19:53:06.020566Z"
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274
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276
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278
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279
+ {"time":"2026-05-17T23:26:52.172377919+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
280
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281
+ {"time":"2026-05-17T23:27:07.169144176+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
282
+ {"time":"2026-05-17T23:27:21.965634343+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1369,"history_lines":11,"events_offset":271,"events_lines":2,"console_offset":1386,"console_lines":11}
283
+ {"time":"2026-05-17T23:27:22.189086837+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
284
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285
+ {"time":"2026-05-17T23:27:37.194727023+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
286
+ {"time":"2026-05-17T23:27:51.965148652+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1390,"history_lines":10,"events_offset":275,"events_lines":2,"console_offset":1407,"console_lines":11}
287
+ {"time":"2026-05-17T23:27:52.188767598+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
288
+ {"time":"2026-05-17T23:28:06.965159154+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1400,"history_lines":10,"events_offset":277,"events_lines":2,"console_offset":1417,"console_lines":11}
289
+ {"time":"2026-05-17T23:28:07.226853692+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
290
+ {"time":"2026-05-17T23:28:21.964965449+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1410,"history_lines":11,"events_offset":279,"events_lines":2,"console_offset":1427,"console_lines":12}
291
+ {"time":"2026-05-17T23:28:22.169317316+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
292
+ {"time":"2026-05-17T23:28:36.965178448+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1421,"history_lines":10,"events_offset":281,"events_lines":2,"console_offset":1438,"console_lines":11}
293
+ {"time":"2026-05-17T23:28:37.163158531+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
294
+ {"time":"2026-05-17T23:28:51.965840745+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1431,"history_lines":10,"events_offset":283,"events_lines":2,"console_offset":1448,"console_lines":11}
295
+ {"time":"2026-05-17T23:28:52.179669063+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
296
+ {"time":"2026-05-17T23:29:06.965410897+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1441,"history_lines":10,"events_offset":285,"events_lines":2,"console_offset":1458,"console_lines":11}
297
+ {"time":"2026-05-17T23:29:07.183749238+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
298
+ {"time":"2026-05-17T23:29:21.96696608+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1451,"history_lines":11,"events_offset":287,"events_lines":2,"console_offset":1468,"console_lines":12}
299
+ {"time":"2026-05-17T23:29:22.161631343+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
300
+ {"time":"2026-05-17T23:29:36.965422275+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1462,"history_lines":10,"events_offset":289,"events_lines":2,"console_offset":1479,"console_lines":11}
301
+ {"time":"2026-05-17T23:29:37.179843707+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
302
+ {"time":"2026-05-17T23:29:51.965387223+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1472,"history_lines":10,"events_offset":291,"events_lines":2,"console_offset":1489,"console_lines":11}
303
+ {"time":"2026-05-17T23:29:52.172115362+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
304
+ {"time":"2026-05-17T23:30:06.964802794+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1482,"history_lines":11,"events_offset":293,"events_lines":2,"console_offset":1499,"console_lines":12}
305
+ {"time":"2026-05-17T23:30:07.173652347+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
306
+ {"time":"2026-05-17T23:30:21.965171904+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1493,"history_lines":6,"events_offset":295,"events_lines":2,"console_offset":1510,"console_lines":7}
307
+ {"time":"2026-05-17T23:30:22.214013694+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
308
+ {"time":"2026-05-17T23:30:36.965081219+03:00","level":"INFO","msg":"filestream: sending request","total_files":4,"history_offset":1499,"history_lines":1,"events_offset":297,"events_lines":1,"console_offset":1517,"console_lines":2,"uploaded_len":3}
309
+ {"time":"2026-05-17T23:30:37.207429546+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
310
+ {"time":"2026-05-17T23:30:58.875996275+03:00","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
311
+ {"time":"2026-05-17T23:30:58.876069457+03:00","level":"INFO","msg":"filestream: sending request","total_files":0,"complete":true,"exit_code":0}
312
+ {"time":"2026-05-17T23:30:59.073362886+03:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
313
+ {"time":"2026-05-17T23:30:59.073448336+03:00","level":"INFO","msg":"stream: finishing up"}
314
+ {"time":"2026-05-17T23:30:59.073455868+03:00","level":"INFO","msg":"handler: closed"}
315
+ {"time":"2026-05-17T23:30:59.073502268+03:00","level":"INFO","msg":"sender: closed"}
316
+ {"time":"2026-05-17T23:30:59.073507486+03:00","level":"INFO","msg":"stream: all finished"}
checkpoints/diffusion_dagger_iter1_20260517_225259/wandb/run-20260517_225306-kmyshjri/logs/debug.log ADDED
@@ -0,0 +1,58 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_setup.py:_flush():81] Current SDK version is 0.27.0
2
+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_setup.py:_flush():81] Configure stats pid to 2752157
3
+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_setup.py:_flush():81] Loading settings from environment variables
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+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/romain/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_20260517_225259/wandb/run-20260517_225306-kmyshjri/logs/debug.log
5
+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/romain/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_20260517_225259/wandb/run-20260517_225306-kmyshjri/logs/debug-internal.log
6
+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_init.py:init():851] calling init triggers
7
+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_init.py:init():856] wandb.init called with sweep_config: {}
8
+ config: {'dataset': {'repo_id': 'local/dagger_episodes', 'root': '/home/romain/Desktop/robot_learning/dataset_dagger/aggregated_dataset', '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/romain/Desktop/robot_learning/outputs/train/530_episodes_base_model/checkpoints/diffusion_unet_dino_530_episodes/200000/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, '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/romain/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_20260517_225259', 'job_name': 'diffusion_dagger_iter1_20260517_225259', 'resume': False, 'seed': 1000, 'cudnn_deterministic': False, 'num_workers': 16, 'batch_size': 64, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 30000, 'eval_freq': 0, 'log_freq': 20, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 30000, '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': 44, '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
+ 2026-05-17 22:53:06,021 INFO MainThread:2752157 [wandb_init.py:init():899] starting backend
10
+ 2026-05-17 22:53:06,233 INFO MainThread:2752157 [wandb_init.py:init():914] sending inform_init request
11
+ 2026-05-17 22:53:06,498 INFO MainThread:2752157 [wandb_init.py:init():919] backend started and connected
12
+ 2026-05-17 22:53:06,500 INFO MainThread:2752157 [wandb_init.py:init():989] updated telemetry
13
+ 2026-05-17 22:53:06,502 INFO MainThread:2752157 [wandb_init.py:init():1012] communicating run to backend with 90.0 second timeout
14
+ 2026-05-17 22:53:06,924 INFO MainThread:2752157 [wandb_init.py:init():1057] starting run threads in backend
15
+ 2026-05-17 22:53:06,962 INFO MainThread:2752157 [wandb_run.py:_console_start():2509] atexit reg
16
+ 2026-05-17 22:53:06,962 INFO MainThread:2752157 [wandb_run.py:_redirect():2359] redirect: wrap_raw
17
+ 2026-05-17 22:53:06,962 INFO MainThread:2752157 [wandb_run.py:_redirect():2428] Wrapping output streams.
18
+ 2026-05-17 22:53:06,962 INFO MainThread:2752157 [wandb_run.py:_redirect():2451] Redirects installed.
19
+ 2026-05-17 22:53:06,964 INFO MainThread:2752157 [wandb_init.py:init():1095] run started, returning control to user process
20
+ 2026-05-17 23:30:23,592 INFO wandb-AsyncioManager-main:2752157 [service_client.py:_forward_responses():122] Reached EOF.
21
+ 2026-05-17 23:30:23,592 INFO wandb-AsyncioManager-main:2752157 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
22
+ 2026-05-17 23:30:28,105 ERROR wandb-AsyncioManager-main:2752157 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
23
+ Traceback (most recent call last):
24
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
25
+ await fn()
26
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 105, in loop
27
+ await self._poll_and_print(timeout=None)
28
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 133, in _poll_and_print
29
+ handle = await self._interface.deliver_async(request)
30
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
31
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
32
+ handle = await self._client.deliver(request)
33
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
34
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
35
+ handle = self._mailbox.require_response(request)
36
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
37
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
38
+ raise MailboxClosedError()
39
+ wandb.sdk.mailbox.mailbox.MailboxClosedError
40
+ 2026-05-17 23:30:37,680 ERROR wandb-AsyncioManager-main:2752157 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
41
+ Traceback (most recent call last):
42
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
43
+ await fn()
44
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 87, in loop
45
+ should_stop = await self._check_should_stop()
46
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
47
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 115, in _check_should_stop
48
+ handle = await self._interface.deliver_async(request)
49
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
50
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
51
+ handle = await self._client.deliver(request)
52
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
53
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
54
+ handle = self._mailbox.require_response(request)
55
+ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
56
+ File "/home/romain/Desktop/robot_learning/lerobot/.venv/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
57
+ raise MailboxClosedError()
58
+ wandb.sdk.mailbox.mailbox.MailboxClosedError
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