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+ INFO 2026-05-20 13:39:29 eo_utils.py:110 Using video codec: libsvtav1
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+ INFO 2026-05-20 13:39:29 ot_train.py:270 Creating policy
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+ Loading weights: 100%|███████████████████████████████████| 223/223 [00:00<00:00, 7257.76it/s]
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+ Loading weights from local directory
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+ INFO 2026-05-20 13:39:32 ot_train.py:347 Creating optimizer and scheduler
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+ INFO 2026-05-20 13:39:32 ot_train.py:374 Output dir: /home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_523_dataset_base_from_dino_780_new_config_11H47
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+ INFO 2026-05-20 13:39:32 ot_train.py:381 cfg.steps=25000 (25K)
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+ INFO 2026-05-20 13:39:32 ot_train.py:382 dataset.num_frames=252247 (252K)
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+ INFO 2026-05-20 13:39:32 ot_train.py:383 dataset.num_episodes=523
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+ INFO 2026-05-20 13:39:32 ot_train.py:386 Effective batch size: 128 x 1 = 128
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+ INFO 2026-05-20 13:39:32 ot_train.py:387 num_learnable_params=251772134 (252M)
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+ INFO 2026-05-20 13:39:32 ot_train.py:388 num_total_params=273828710 (274M)
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+ Training: 0%| | 0/25000 [00:00<?, ?step/s]INFO 2026-05-20 13:39:32 ot_train.py:453 Start offline training on a fixed dataset, with effective batch size: 128
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+ Training: 12%|████▎ | 2880/25000 [13:37<1:29:28, 4.12step/s]INFO 2026-05-20 13:53:09 ot_train.py:488 step:3K smpl:369K ep:764 epch:1.46 loss:0.010 grdn:0.140 lr:4.8e-06 updt_s:0.114 data_s:0.163
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