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MainThread:2634016 [wandb_run.py:_redirect():2451] Redirects installed. +2026-05-21 01:57:08,840 INFO MainThread:2634016 [wandb_init.py:init():1095] run started, returning control to user process +2026-05-21 02:39:46,279 INFO wandb-AsyncioManager-main:2634016 [service_client.py:_forward_responses():122] Reached EOF. +2026-05-21 02:39:46,279 INFO wandb-AsyncioManager-main:2634016 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles. +2026-05-21 02:39:51,117 ERROR wandb-AsyncioManager-main:2634016 [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 +2026-05-21 02:39:58,223 ERROR wandb-AsyncioManager-main:2634016 [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 diff --git a/checkpoints/dagger/diffusion_dagger_iter3_25000steps_20260521_015658/wandb/run-20260521_015707-6oj9an6r/files/config.yaml b/checkpoints/dagger/diffusion_dagger_iter3_25000steps_20260521_015658/wandb/run-20260521_015707-6oj9an6r/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7833db1cbe2dc39ee6a24d2227c3936aa0e55a34 --- /dev/null +++ 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host: brev-baxch8nuw + memory: + total: "190128123904" + 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_dagger_iter3_25000steps_20260521_015658 + startedAt: "2026-05-21T01:57:07.942609Z" + writerId: hyt8ordhsa61c58cdexfk6i7d6odd24b + 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": 5.5.4 + "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/shadeform/Desktop/robot_learning/base_new_dataset_dagger_v3_725 + streaming: false + use_imagenet_stats: true + video_backend: pyav +env: + value: null +eval: + value: + batch_size: 19 + n_episodes: 50 + use_async_envs: true +eval_freq: + value: 0 +job_name: + value: diffusion_dagger_iter3_25000steps_20260521_015658 +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/shadeform/Desktop/robot_learning/outputs/train/diffusion_dagger_iter3_25000steps_20260521_015658 +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: 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[wandb_init.py:init():1057] starting run threads in backend +2026-05-21 01:57:08,839 INFO MainThread:2634016 [wandb_run.py:_console_start():2509] atexit reg +2026-05-21 01:57:08,839 INFO MainThread:2634016 [wandb_run.py:_redirect():2359] redirect: wrap_raw +2026-05-21 01:57:08,839 INFO MainThread:2634016 [wandb_run.py:_redirect():2428] Wrapping output streams. +2026-05-21 01:57:08,839 INFO MainThread:2634016 [wandb_run.py:_redirect():2451] Redirects installed. +2026-05-21 01:57:08,840 INFO MainThread:2634016 [wandb_init.py:init():1095] run started, returning control to user process +2026-05-21 02:39:46,279 INFO wandb-AsyncioManager-main:2634016 [service_client.py:_forward_responses():122] Reached EOF. +2026-05-21 02:39:46,279 INFO wandb-AsyncioManager-main:2634016 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles. +2026-05-21 02:39:51,117 ERROR wandb-AsyncioManager-main:2634016 [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 +2026-05-21 02:39:58,223 ERROR wandb-AsyncioManager-main:2634016 [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() 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