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"/home/romain/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/romain/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/romain/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/romain/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 +2026-05-17 23:30:37,680 ERROR wandb-AsyncioManager-main:2752157 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback. +Traceback (most recent call last): + 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 + await fn() + File "/home/romain/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/romain/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/romain/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/romain/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/romain/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 diff --git a/checkpoints/diffusion_dagger_iter1_20260517_225259/wandb/run-20260517_225306-kmyshjri/files/config.yaml b/checkpoints/diffusion_dagger_iter1_20260517_225259/wandb/run-20260517_225306-kmyshjri/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a612665b3bb8a96f4b4f61cd1c7f4732fa99f732 --- /dev/null +++ b/checkpoints/diffusion_dagger_iter1_20260517_225259/wandb/run-20260517_225306-kmyshjri/files/config.yaml @@ -0,0 +1,359 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + 76zl6yzqswy9dvsaff1f2i359htx91fl: + args: + - --policy.path=/home/romain/Desktop/robot_learning/outputs/train/530_episodes_base_model/checkpoints/diffusion_unet_dino_530_episodes/200000/pretrained_model/ + - --dataset.repo_id=local/dagger_episodes + - --dataset.root=/home/romain/Desktop/robot_learning/dataset_dagger/aggregated_dataset + - --dataset.video_backend=pyav + - --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=5e-5 + - --policy.scheduler_warmup_steps=100 + - --output_dir=/home/romain/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_20260517_225259 + - --job_name=diffusion_dagger_iter1_20260517_225259 + - --batch_size=64 + - --steps=30000 + - --num_workers=16 + - --log_freq=20 + - --save_freq=30000 + - --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: 32 + cpu_count_logical: 64 + cudaVersion: "12.9" + disk: + /: + total: "1966736678912" + used: "1699821633536" + executable: /home/romain/Desktop/robot_learning/lerobot/.venv/bin/python3 + git: + commit: ed2b66ad8e363ebc36956f5d05c37d836a3889b7 + remote: https://github.com/michavol/lerobot.git + gpu: NVIDIA H200 NVL + gpu_count: 1 + gpu_nvidia: + - architecture: Hopper + cudaCores: 16896 + memoryTotal: "150754820096" + name: NVIDIA H200 NVL + uuid: GPU-89b0dd9b-b060-95fa-b167-c1bff3f7c780 + host: SRL-DSK-015 + memory: + total: "269727481856" + os: Linux-6.14.0-29-generic-x86_64-with-glibc2.39 + program: /home/romain/Desktop/robot_learning/lerobot/.venv/bin/lerobot-train + python: CPython 3.12.13 + root: /home/romain/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_20260517_225259 + startedAt: "2026-05-17T19:53:06.020566Z" + writerId: 76zl6yzqswy9dvsaff1f2i359htx91fl + 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/dagger_episodes + return_uint8: false + revision: null + root: /home/romain/Desktop/robot_learning/dataset_dagger/aggregated_dataset + streaming: false + use_imagenet_stats: true + video_backend: pyav +env: + value: null +eval: + value: + batch_size: 44 + n_episodes: 50 + use_async_envs: true +eval_freq: + value: 0 +job_name: + value: diffusion_dagger_iter1_20260517_225259 +log_freq: + value: 20 +num_workers: + value: 16 +optimizer: + value: + betas: + - 0.95 + - 0.999 + eps: 1e-08 + grad_clip_norm: 10 + lr: 5e-05 + type: adam + weight_decay: 1e-06 +output_dir: + value: /home/romain/Desktop/robot_learning/outputs/train/diffusion_dagger_iter1_20260517_225259 +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 + input_features: + observation.images.front: + shape: + - 3 + - 480 + - 640 + type: VISUAL + observation.state: + shape: + - 6 + type: STATE + 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: 5e-05 + optimizer_weight_decay: 1e-06 + output_features: + action: + shape: + - 6 + type: ACTION + prediction_type: epsilon + pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1 + pretrained_path: /home/romain/Desktop/robot_learning/outputs/train/530_episodes_base_model/checkpoints/diffusion_unet_dino_530_episodes/200000/pretrained_model + private: null + push_to_hub: false + repo_id: null + resize_shape: + - 224 + - 224 + scheduler_name: cosine + scheduler_warmup_steps: 100 + spatial_softmax_num_keypoints: 32 + tags: 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Redirects installed. +2026-05-17 22:53:06,964 INFO MainThread:2752157 [wandb_init.py:init():1095] run started, returning control to user process +2026-05-17 23:30:23,592 INFO wandb-AsyncioManager-main:2752157 [service_client.py:_forward_responses():122] Reached EOF. +2026-05-17 23:30:23,592 INFO wandb-AsyncioManager-main:2752157 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles. +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. +Traceback (most recent call last): + 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 + await fn() + File "/home/romain/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/romain/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/romain/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/romain/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/romain/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 +2026-05-17 23:30:37,680 ERROR wandb-AsyncioManager-main:2752157 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback. +Traceback (most recent call last): + 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 + await fn() + File "/home/romain/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/romain/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/romain/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/romain/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/romain/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 diff --git a/checkpoints/diffusion_dagger_iter1_20260517_225259/wandb/run-20260517_225306-kmyshjri/run-kmyshjri.wandb b/checkpoints/diffusion_dagger_iter1_20260517_225259/wandb/run-20260517_225306-kmyshjri/run-kmyshjri.wandb new file mode 100644 index 0000000000000000000000000000000000000000..ef3ed8fcebebbe0ee5ed6afa2f9da96717a03a27 --- /dev/null +++ b/checkpoints/diffusion_dagger_iter1_20260517_225259/wandb/run-20260517_225306-kmyshjri/run-kmyshjri.wandb @@ -0,0 +1,3 @@ +version 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