Upload folder using huggingface_hub

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+act_so101_test9/wandb/run-20250709_113427-33cehc58/run-33cehc58.wandb filter=lfs diff=lfs merge=lfs -text

act_so101_test/wandb/debug-internal.log

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act_so101_test/wandb/debug.log

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+2025-07-08 15:23:02,123 INFO    MainThread:705868 [wandb_setup.py:_flush():68] Current SDK version is 0.19.10
+2025-07-08 15:23:02,123 INFO    MainThread:705868 [wandb_setup.py:_flush():68] Configure stats pid to 705868
+2025-07-08 15:23:02,123 INFO    MainThread:705868 [wandb_setup.py:_flush():68] Loading settings from /home/cvl/.config/wandb/settings
+2025-07-08 15:23:02,123 INFO    MainThread:705868 [wandb_setup.py:_flush():68] Loading settings from /home/cvl/lerobot/wandb/settings
+2025-07-08 15:23:02,123 INFO    MainThread:705868 [wandb_setup.py:_flush():68] Loading settings from environment variables
+2025-07-08 15:23:02,123 INFO    MainThread:705868 [wandb_init.py:setup_run_log_directory():724] Logging user logs to outputs/train/act_so101_test/wandb/run-20250708_152302-plgk0n9c/logs/debug.log
+2025-07-08 15:23:02,124 INFO    MainThread:705868 [wandb_init.py:setup_run_log_directory():725] Logging internal logs to outputs/train/act_so101_test/wandb/run-20250708_152302-plgk0n9c/logs/debug-internal.log
+2025-07-08 15:23:02,124 INFO    MainThread:705868 [wandb_init.py:init():852] calling init triggers
+2025-07-08 15:23:02,124 INFO    MainThread:705868 [wandb_init.py:init():857] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'saraparoji/mookrobot', 'root': None, 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec'}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'push_to_hub': True, 'repo_id': 'saraparoji/trainedpolicy', 'private': None, 'tags': None, 'license': None, 'chunk_size': 100, 'n_action_steps': 100, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 512, 'n_heads': 8, 'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, 'n_decoder_layers': 1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'temporal_ensemble_coeff': None, 'dropout': 0.1, 'kl_weight': 10.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'output_dir': 'outputs/train/act_so101_test', 'job_name': 'redcube', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 8, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 1e-05, 'weight_decay': 0.0001, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': None, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, '_wandb': {}}
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act_so101_test/wandb/run-20250708_152302-plgk0n9c/files/config.yaml

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+_wandb:
+    value:
+        cli_version: 0.19.10
+        m: []
+        python_version: 3.10.13
+        t:
+            "1":
+                - 1
+                - 41
+                - 49
+                - 51
+                - 55
+            "2":
+                - 1
+                - 41
+                - 49
+                - 51
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+            "3":
+                - 13
+                - 15
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+                - 23
+                - 55
+            "4": 3.10.13
+            "5": 0.19.10
+            "8":
+                - 5
+            "10":
+                - 21
+            "12": 0.19.10
+            "13": linux-x86_64
+batch_size:
+    value: 8
+dataset:
+    value:
+        episodes: null
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
+            random_order: false
+            tfs:
+                brightness:
+                    kwargs:
+                        brightness:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                contrast:
+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                hue:
+                    kwargs:
+                        hue:
+                            - -0.05
+                            - 0.05
+                    type: ColorJitter
+                    weight: 1
+                saturation:
+                    kwargs:
+                        saturation:
+                            - 0.5
+                            - 1.5
+                    type: ColorJitter
+                    weight: 1
+                sharpness:
+                    kwargs:
+                        sharpness:
+                            - 0.5
+                            - 1.5
+                    type: SharpnessJitter
+                    weight: 1
+        repo_id: saraparoji/mookrobot
+        revision: null
+        root: null
+        use_imagenet_stats: true
+        video_backend: torchcodec
+env:
+    value: null
+eval:
+    value:
+        batch_size: 50
+        n_episodes: 50
+        use_async_envs: false
+eval_freq:
+    value: 20000
+job_name:
+    value: redcube
+log_freq:
+    value: 200
+num_workers:
+    value: 4
+optimizer:
+    value:
+        betas:
+            - 0.9
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 10
+        lr: 1e-05
+        type: adamw
+        weight_decay: 0.0001
+output_dir:
+    value: outputs/train/act_so101_test
+policy:
+    value:
+        chunk_size: 100
+        device: cuda
+        dim_feedforward: 3200
+        dim_model: 512
+        dropout: 0.1
+        feedforward_activation: relu
+        kl_weight: 10
+        latent_dim: 32
+        license: null
+        n_action_steps: 100
+        n_decoder_layers: 1
+        n_encoder_layers: 4
+        n_heads: 8
+        n_obs_steps: 1
+        n_vae_encoder_layers: 4
+        normalization_mapping:
+            ACTION: MEAN_STD
+            STATE: MEAN_STD
+            VISUAL: MEAN_STD
+        optimizer_lr: 1e-05
+        optimizer_lr_backbone: 1e-05
+        optimizer_weight_decay: 0.0001
+        pre_norm: false
+        pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+        private: null
+        push_to_hub: true
+        replace_final_stride_with_dilation: false
+        repo_id: saraparoji/trainedpolicy
+        tags: null
+        temporal_ensemble_coeff: null
+        type: act
+        use_amp: false
+        use_vae: true
+        vision_backbone: resnet18
+resume:
+    value: false
+save_checkpoint:
+    value: true
+save_freq:
+    value: 20000
+scheduler:
+    value: null
+seed:
+    value: 1000
+steps:
+    value: 100000
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: null

act_so101_test/wandb/run-20250708_152302-plgk0n9c/files/output.log

@@ -0,0 +1,82 @@
+Logs will be synced with wandb.
+INFO 2025-07-08 15:23:02 db_utils.py:103 Track this run --> https://wandb.ai/ayomookk-kuas-/lerobot/runs/plgk0n9c
+INFO 2025-07-08 15:23:02 ts/train.py:127 Creating dataset
+Resolving data files: 100%|█████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 50/50 [00:00<00:00, 384093.77it/s]
+Downloading data: 100%|██████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 50/50 [00:00<00:00, 305262.30files/s]
+Generating train split: 17724 examples [00:00, 424147.13 examples/s]
+INFO 2025-07-08 15:23:03 ts/train.py:138 Creating policy
+Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /home/cvl/.cache/torch/hub/checkpoints/resnet18-f37072fd.pth
+100%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 44.7M/44.7M [00:00<00:00, 110MB/s]
+INFO 2025-07-08 15:23:04 ts/train.py:144 Creating optimizer and scheduler
+INFO 2025-07-08 15:23:04 ts/train.py:156 Output dir: outputs/train/act_so101_test
+INFO 2025-07-08 15:23:04 ts/train.py:159 cfg.steps=100000 (100K)
+INFO 2025-07-08 15:23:04 ts/train.py:160 dataset.num_frames=17724 (18K)
+INFO 2025-07-08 15:23:04 ts/train.py:161 dataset.num_episodes=50
+INFO 2025-07-08 15:23:04 ts/train.py:162 num_learnable_params=51597190 (52M)
+INFO 2025-07-08 15:23:04 ts/train.py:163 num_total_params=51597232 (52M)
+INFO 2025-07-08 15:23:04 ts/train.py:202 Start offline training on a fixed dataset
+Traceback (most recent call last):
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/runpy.py", line 196, in _run_module_as_main
+    return _run_code(code, main_globals, None,
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/runpy.py", line 86, in _run_code
+    exec(code, run_globals)
+  File "/home/cvl/lerobot/lerobot/scripts/train.py", line 291, in <module>
+    train()
+  File "/home/cvl/lerobot/lerobot/configs/parser.py", line 226, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/cvl/lerobot/lerobot/scripts/train.py", line 205, in train
+    batch = next(dl_iter)
+  File "/home/cvl/lerobot/lerobot/common/datasets/utils.py", line 641, in cycle
+    yield next(iterator)
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 708, in __next__
+    data = self._next_data()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 1480, in _next_data
+    return self._process_data(data)
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 1505, in _process_data
+    data.reraise()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/_utils.py", line 733, in reraise
+    raise exception
+RuntimeError: Caught RuntimeError in DataLoader worker process 0.
+Original Traceback (most recent call last):
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/worker.py", line 349, in _worker_loop
+    data = fetcher.fetch(index)  # type: ignore[possibly-undefined]
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 52, in fetch
+    data = [self.dataset[idx] for idx in possibly_batched_index]
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 52, in <listcomp>
+    data = [self.dataset[idx] for idx in possibly_batched_index]
+  File "/home/cvl/lerobot/lerobot/common/datasets/lerobot_dataset.py", line 717, in __getitem__
+    video_frames = self._query_videos(query_timestamps, ep_idx)
+  File "/home/cvl/lerobot/lerobot/common/datasets/lerobot_dataset.py", line 689, in _query_videos
+    frames = decode_video_frames(video_path, query_ts, self.tolerance_s, self.video_backend)
+  File "/home/cvl/lerobot/lerobot/common/datasets/video_utils.py", line 65, in decode_video_frames
+    return decode_video_frames_torchcodec(video_path, timestamps, tolerance_s)
+  File "/home/cvl/lerobot/lerobot/common/datasets/video_utils.py", line 189, in decode_video_frames_torchcodec
+    from torchcodec.decoders import VideoDecoder
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/__init__.py", line 10, in <module>
+    from . import decoders, samplers  # noqa
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/decoders/__init__.py", line 7, in <module>
+    from .._core import AudioStreamMetadata, VideoStreamMetadata
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/__init__.py", line 8, in <module>
+    from ._metadata import (
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/_metadata.py", line 15, in <module>
+    from torchcodec._core.ops import (
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/ops.py", line 86, in <module>
+    load_torchcodec_shared_libraries()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/ops.py", line 71, in load_torchcodec_shared_libraries
+    raise RuntimeError(
+RuntimeError: Could not load libtorchcodec. Likely causes:
+          1. FFmpeg is not properly installed in your environment. We support
+             versions 4, 5, 6 and 7.
+          2. The PyTorch version (2.6.0+cu124) is not compatible with
+             this version of TorchCodec. Refer to the version compatibility
+             table:
+             https://github.com/pytorch/torchcodec?tab=readme-ov-file#installing-torchcodec.
+          3. Another runtime dependency; see exceptions below.
+        The following exceptions were raised as we tried to load libtorchcodec:
+
+[start of libtorchcodec loading traceback]
+FFmpeg version 7: /home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/libtorchcodec_decoder7.so: undefined symbol: _ZN3c106DeviceC1ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE
+FFmpeg version 6: libavutil.so.58: cannot open shared object file: No such file or directory
+FFmpeg version 5: libavutil.so.57: cannot open shared object file: No such file or directory
+FFmpeg version 4: libavutil.so.56: cannot open shared object file: No such file or directory
+[end of libtorchcodec loading traceback].

act_so101_test/wandb/run-20250708_152302-plgk0n9c/files/requirements.txt

@@ -0,0 +1,150 @@
+numpy==2.2.4
+dill==0.3.8
+nvidia-nvjitlink-cu12==12.4.127
+gitdb==4.0.12
+zarr==2.18.3
+setuptools==75.8.0
+pytz==2025.2
+antlr4-python3-runtime==4.9.3
+pydantic_core==2.33.1
+cffi==1.17.1
+wandb==0.19.10
+nvidia-cublas-cu12==12.4.5.8
+mypy_extensions==1.1.0
+pfzy==0.3.4
+fasteners==0.19
+aiosignal==1.3.2
+nvidia-curand-cu12==10.3.5.147
+async-timeout==5.0.1
+huggingface-hub==0.30.2
+GitPython==3.1.44
+frozenlist==1.6.0
+nvidia-cufft-cu12==11.2.1.3
+PyYAML==6.0.2
+draccus==0.10.0
+safetensors==0.5.3
+cloudpickle==3.1.1
+typing_extensions==4.13.2
+platformdirs==4.3.7
+evdev==1.9.1
+Farama-Notifications==0.0.4
+nvidia-cuda-nvrtc-cu12==12.4.127
+multidict==6.4.3
+sentry-sdk==2.26.1
+networkx==3.4.2
+docker-pycreds==0.4.0
+cmake==4.0.0
+pandas==2.2.3
+torchvision==0.21.0
+torchcodec==0.3.0
+multiprocess==0.70.16
+protobuf==6.30.2
+pyzmq==26.4.0
+python-xlib==0.33
+urllib3==2.4.0
+opencv-python-headless==4.11.0
+h5py==3.13.0
+triton==3.2.0
+requests==2.32.3
+numba==0.61.2
+annotated-types==0.7.0
+nvidia-cusparselt-cu12==0.6.2
+six==1.17.0
+tqdm==4.67.1
+nvidia-cuda-runtime-cu12==12.4.127
+pyyaml-include==1.4.1
+regex==2024.11.6
+Werkzeug==3.1.3
+blinker==1.9.0
+attrs==25.3.0
+yarl==1.20.0
+mpmath==1.3.0
+typing-inspect==0.9.0
+importlib_metadata==8.6.1
+certifi==2025.1.31
+termcolor==3.0.1
+nvidia-cuda-cupti-cu12==12.4.127
+wcwidth==0.2.13
+itsdangerous==2.2.0
+idna==3.10
+imageio-ffmpeg==0.6.0
+hf_transfer==0.1.9
+smmap==5.0.2
+beautifulsoup4==4.13.4
+einops==0.8.1
+aiohappyeyeballs==2.6.1
+lerobot==0.1.0
+numcodecs==0.13.1
+pynput==1.8.1
+gymnasium==0.29.1
+pip==25.0
+jsonlines==4.0.0
+opencv-python==4.11.0
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+            "5": 0.19.10
+            "8":
+                - 5
+            "10":
+                - 21
+            "12": 0.19.10
+            "13": linux-x86_64
+batch_size:
+    value: 8
+dataset:
+    value:
+        episodes: null
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
+            random_order: false
+            tfs:
+                brightness:
+                    kwargs:
+                        brightness:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                contrast:
+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                hue:
+                    kwargs:
+                        hue:
+                            - -0.05
+                            - 0.05
+                    type: ColorJitter
+                    weight: 1
+                saturation:
+                    kwargs:
+                        saturation:
+                            - 0.5
+                            - 1.5
+                    type: ColorJitter
+                    weight: 1
+                sharpness:
+                    kwargs:
+                        sharpness:
+                            - 0.5
+                            - 1.5
+                    type: SharpnessJitter
+                    weight: 1
+        repo_id: saraparoji/mookrobot
+        revision: null
+        root: null
+        use_imagenet_stats: true
+        video_backend: torchcodec
+env:
+    value: null
+eval:
+    value:
+        batch_size: 50
+        n_episodes: 50
+        use_async_envs: false
+eval_freq:
+    value: 20000
+job_name:
+    value: redcube
+log_freq:
+    value: 200
+num_workers:
+    value: 4
+optimizer:
+    value:
+        betas:
+            - 0.9
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 10
+        lr: 1e-05
+        type: adamw
+        weight_decay: 0.0001
+output_dir:
+    value: outputs/train/act_so101_test1
+policy:
+    value:
+        chunk_size: 100
+        device: cuda
+        dim_feedforward: 3200
+        dim_model: 512
+        dropout: 0.1
+        feedforward_activation: relu
+        kl_weight: 10
+        latent_dim: 32
+        license: null
+        n_action_steps: 100
+        n_decoder_layers: 1
+        n_encoder_layers: 4
+        n_heads: 8
+        n_obs_steps: 1
+        n_vae_encoder_layers: 4
+        normalization_mapping:
+            ACTION: MEAN_STD
+            STATE: MEAN_STD
+            VISUAL: MEAN_STD
+        optimizer_lr: 1e-05
+        optimizer_lr_backbone: 1e-05
+        optimizer_weight_decay: 0.0001
+        pre_norm: false
+        pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+        private: null
+        push_to_hub: true
+        replace_final_stride_with_dilation: false
+        repo_id: saraparoji/trainedpolicy
+        tags: null
+        temporal_ensemble_coeff: null
+        type: act
+        use_amp: false
+        use_vae: true
+        vision_backbone: resnet18
+resume:
+    value: false
+save_checkpoint:
+    value: true
+save_freq:
+    value: 20000
+scheduler:
+    value: null
+seed:
+    value: 1000
+steps:
+    value: 100000
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: null

act_so101_test1/wandb/run-20250708_152712-104piws7/files/output.log

@@ -0,0 +1,78 @@
+Logs will be synced with wandb.
+INFO 2025-07-08 15:27:13 db_utils.py:103 Track this run --> https://wandb.ai/ayomookk-kuas-/lerobot/runs/104piws7
+INFO 2025-07-08 15:27:13 ts/train.py:127 Creating dataset
+Resolving data files: 100%|█████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 50/50 [00:00<00:00, 410401.57it/s]
+INFO 2025-07-08 15:27:14 ts/train.py:138 Creating policy
+INFO 2025-07-08 15:27:15 ts/train.py:144 Creating optimizer and scheduler
+INFO 2025-07-08 15:27:15 ts/train.py:156 Output dir: outputs/train/act_so101_test1
+INFO 2025-07-08 15:27:15 ts/train.py:159 cfg.steps=100000 (100K)
+INFO 2025-07-08 15:27:15 ts/train.py:160 dataset.num_frames=17724 (18K)
+INFO 2025-07-08 15:27:15 ts/train.py:161 dataset.num_episodes=50
+INFO 2025-07-08 15:27:15 ts/train.py:162 num_learnable_params=51597190 (52M)
+INFO 2025-07-08 15:27:15 ts/train.py:163 num_total_params=51597232 (52M)
+INFO 2025-07-08 15:27:15 ts/train.py:202 Start offline training on a fixed dataset
+Traceback (most recent call last):
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/runpy.py", line 196, in _run_module_as_main
+    return _run_code(code, main_globals, None,
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/runpy.py", line 86, in _run_code
+    exec(code, run_globals)
+  File "/home/cvl/lerobot/lerobot/scripts/train.py", line 291, in <module>
+    train()
+  File "/home/cvl/lerobot/lerobot/configs/parser.py", line 226, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/cvl/lerobot/lerobot/scripts/train.py", line 205, in train
+    batch = next(dl_iter)
+  File "/home/cvl/lerobot/lerobot/common/datasets/utils.py", line 641, in cycle
+    yield next(iterator)
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 708, in __next__
+    data = self._next_data()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 1480, in _next_data
+    return self._process_data(data)
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 1505, in _process_data
+    data.reraise()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/_utils.py", line 733, in reraise
+    raise exception
+RuntimeError: Caught RuntimeError in DataLoader worker process 0.
+Original Traceback (most recent call last):
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/worker.py", line 349, in _worker_loop
+    data = fetcher.fetch(index)  # type: ignore[possibly-undefined]
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 52, in fetch
+    data = [self.dataset[idx] for idx in possibly_batched_index]
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 52, in <listcomp>
+    data = [self.dataset[idx] for idx in possibly_batched_index]
+  File "/home/cvl/lerobot/lerobot/common/datasets/lerobot_dataset.py", line 717, in __getitem__
+    video_frames = self._query_videos(query_timestamps, ep_idx)
+  File "/home/cvl/lerobot/lerobot/common/datasets/lerobot_dataset.py", line 689, in _query_videos
+    frames = decode_video_frames(video_path, query_ts, self.tolerance_s, self.video_backend)
+  File "/home/cvl/lerobot/lerobot/common/datasets/video_utils.py", line 65, in decode_video_frames
+    return decode_video_frames_torchcodec(video_path, timestamps, tolerance_s)
+  File "/home/cvl/lerobot/lerobot/common/datasets/video_utils.py", line 189, in decode_video_frames_torchcodec
+    from torchcodec.decoders import VideoDecoder
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/__init__.py", line 10, in <module>
+    from . import decoders, samplers  # noqa
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/decoders/__init__.py", line 7, in <module>
+    from .._core import AudioStreamMetadata, VideoStreamMetadata
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/__init__.py", line 8, in <module>
+    from ._metadata import (
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/_metadata.py", line 15, in <module>
+    from torchcodec._core.ops import (
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/ops.py", line 86, in <module>
+    load_torchcodec_shared_libraries()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/ops.py", line 71, in load_torchcodec_shared_libraries
+    raise RuntimeError(
+RuntimeError: Could not load libtorchcodec. Likely causes:
+          1. FFmpeg is not properly installed in your environment. We support
+             versions 4, 5, 6 and 7.
+          2. The PyTorch version (2.6.0+cu124) is not compatible with
+             this version of TorchCodec. Refer to the version compatibility
+             table:
+             https://github.com/pytorch/torchcodec?tab=readme-ov-file#installing-torchcodec.
+          3. Another runtime dependency; see exceptions below.
+        The following exceptions were raised as we tried to load libtorchcodec:
+
+[start of libtorchcodec loading traceback]
+FFmpeg version 7: /home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/libtorchcodec_decoder7.so: undefined symbol: _ZN3c106DeviceC1ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE
+FFmpeg version 6: libavutil.so.58: cannot open shared object file: No such file or directory
+FFmpeg version 5: libavutil.so.57: cannot open shared object file: No such file or directory
+FFmpeg version 4: libavutil.so.56: cannot open shared object file: No such file or directory
+[end of libtorchcodec loading traceback].

act_so101_test1/wandb/run-20250708_152712-104piws7/files/requirements.txt

@@ -0,0 +1,150 @@
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+dill==0.3.8
+nvidia-nvjitlink-cu12==12.4.127
+gitdb==4.0.12
+zarr==2.18.3
+setuptools==75.8.0
+pytz==2025.2
+antlr4-python3-runtime==4.9.3
+pydantic_core==2.33.1
+cffi==1.17.1
+wandb==0.19.10
+nvidia-cublas-cu12==12.4.5.8
+mypy_extensions==1.1.0
+pfzy==0.3.4
+fasteners==0.19
+aiosignal==1.3.2
+certifi==2025.6.15
+nvidia-curand-cu12==10.3.5.147
+async-timeout==5.0.1
+huggingface-hub==0.30.2
+GitPython==3.1.44
+frozenlist==1.6.0
+nvidia-cufft-cu12==11.2.1.3
+PyYAML==6.0.2
+draccus==0.10.0
+safetensors==0.5.3
+cloudpickle==3.1.1
+typing_extensions==4.13.2
+platformdirs==4.3.7
+evdev==1.9.1
+Farama-Notifications==0.0.4
+nvidia-cuda-nvrtc-cu12==12.4.127
+multidict==6.4.3
+sentry-sdk==2.26.1
+networkx==3.4.2
+docker-pycreds==0.4.0
+cmake==4.0.0
+pandas==2.2.3
+torchvision==0.21.0
+torchcodec==0.3.0
+multiprocess==0.70.16
+protobuf==6.30.2
+pyzmq==26.4.0
+python-xlib==0.33
+urllib3==2.4.0
+opencv-python-headless==4.11.0
+h5py==3.13.0
+triton==3.2.0
+requests==2.32.3
+numba==0.61.2
+annotated-types==0.7.0
+nvidia-cusparselt-cu12==0.6.2
+six==1.17.0
+tqdm==4.67.1
+nvidia-cuda-runtime-cu12==12.4.127
+pyyaml-include==1.4.1
+regex==2024.11.6
+Werkzeug==3.1.3
+blinker==1.9.0
+attrs==25.3.0
+yarl==1.20.0
+mpmath==1.3.0
+typing-inspect==0.9.0
+importlib_metadata==8.6.1
+termcolor==3.0.1
+nvidia-cuda-cupti-cu12==12.4.127
+wcwidth==0.2.13
+itsdangerous==2.2.0
+idna==3.10
+imageio-ffmpeg==0.6.0
+hf_transfer==0.1.9
+smmap==5.0.2
+beautifulsoup4==4.13.4
+einops==0.8.1
+aiohappyeyeballs==2.6.1
+lerobot==0.1.0
+numcodecs==0.13.1
+pynput==1.8.1
+gymnasium==0.29.1
+pip==25.0
+jsonlines==4.0.0
+opencv-python==4.11.0
+torch==2.6.0
+imageio==2.37.0
+numpy==2.2.5
+MarkupSafe==3.0.2
+toml==0.10.2
+Flask==3.1.0
+inquirerpy==0.3.4
+orderly-set==5.4.0
+psutil==7.0.0
+nvidia-cusolver-cu12==11.6.1.9
+typing-inspection==0.4.0
+asciitree==0.3.3
+pyserial==3.5
+pycparser==2.22
+setproctitle==1.3.5
+feetech-servo-sdk==1.0.0
+mergedeep==1.3.4
+tzdata==2025.2
+gdown==5.2.0
+charset-normalizer==3.4.1
+zipp==3.21.0
+propcache==0.3.1
+python-dateutil==2.9.0.post0
+nvidia-cusparse-cu12==12.3.1.170
+filelock==3.18.0
+nvidia-cudnn-cu12==9.1.0.70
+pymunk==6.11.1
+click==8.1.8
+omegaconf==2.3.0
+datasets==3.5.0
+scipy==1.15.3
+pydantic==2.11.3
+pillow==11.2.1
+av==14.3.0
+llvmlite==0.44.0
+pyav==14.2.1
+soupsieve==2.7
+PySocks==1.7.1
+aiohttp==3.11.18
+rerun-sdk==0.22.1
+fsspec==2024.12.0
+wheel==0.45.1
+nvidia-nccl-cu12==2.21.5
+deepdiff==8.4.2
+prompt_toolkit==3.0.51
+sympy==1.13.1
+packaging==25.0
+pyarrow==19.0.1
+xxhash==3.5.0
+nvidia-nvtx-cu12==12.4.127
+Jinja2==3.1.6
+diffusers==0.33.1
+backports.tarfile==1.2.0
+jaraco.text==3.12.1
+jaraco.collections==5.1.0
+packaging==24.2
+importlib_metadata==8.0.0
+typing_extensions==4.12.2
+jaraco.functools==4.0.1
+zipp==3.19.2
+inflect==7.3.1
+more-itertools==10.3.0
+jaraco.context==5.3.0
+platformdirs==4.2.2
+wheel==0.43.0
+tomli==2.0.1
+typeguard==4.3.0
+autocommand==2.2.2

act_so101_test1/wandb/run-20250708_152712-104piws7/files/wandb-metadata.json

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+  "python": "CPython 3.10.13",
+  "startedAt": "2025-07-08T06:27:12.872557Z",
+  "args": [
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+    "--policy.type=act",
+    "--output_dir=outputs/train/act_so101_test1",
+    "--job_name=redcube",
+    "--policy.device=cuda",
+    "--wandb.enable=true",
+    "--policy.repo_id=saraparoji/trainedpolicy"
+  ],
+  "program": "-m lerobot.scripts.train",
+  "git": {
+    "remote": "https://github.com/huggingface/lerobot.git",
+    "commit": "483be9aac217c2d8ef16982490f22b2ad091ab46"
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+  "root": "outputs/train/act_so101_test1",
+  "host": "cvl-genesis",
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+  "gpu": "NVIDIA GeForce RTX 3080",
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+  "cpu": {
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+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA GeForce RTX 3080",
+      "memoryTotal": "10737418240",
+      "cudaCores": 8704,
+      "architecture": "Ampere"
+    }
+  ],
+  "cudaVersion": "12.6"
+}

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act_so101_test1/wandb/run-20250708_152712-104piws7/logs/debug.log

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act_so101_test2/wandb/debug.log

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+config: {'dataset': {'repo_id': 'saraparoji/mookrobot', 'root': None, 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec'}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'push_to_hub': True, 'repo_id': 'saraparoji/trainedpolicy', 'private': None, 'tags': None, 'license': None, 'chunk_size': 100, 'n_action_steps': 100, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 512, 'n_heads': 8, 'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, 'n_decoder_layers': 1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'temporal_ensemble_coeff': None, 'dropout': 0.1, 'kl_weight': 10.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'output_dir': 'outputs/train/act_so101_test2', 'job_name': 'redcube', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 8, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 1e-05, 'weight_decay': 0.0001, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': None, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, '_wandb': {}}
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act_so101_test2/wandb/run-20250708_153056-2aeyl5mh/files/config.yaml

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+_wandb:
+    value:
+        cli_version: 0.19.10
+        m: []
+        python_version: 3.10.13
+        t:
+            "1":
+                - 1
+                - 41
+                - 49
+                - 51
+                - 55
+            "2":
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+            "4": 3.10.13
+            "5": 0.19.10
+            "8":
+                - 5
+            "10":
+                - 21
+            "12": 0.19.10
+            "13": linux-x86_64
+batch_size:
+    value: 8
+dataset:
+    value:
+        episodes: null
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
+            random_order: false
+            tfs:
+                brightness:
+                    kwargs:
+                        brightness:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                contrast:
+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                hue:
+                    kwargs:
+                        hue:
+                            - -0.05
+                            - 0.05
+                    type: ColorJitter
+                    weight: 1
+                saturation:
+                    kwargs:
+                        saturation:
+                            - 0.5
+                            - 1.5
+                    type: ColorJitter
+                    weight: 1
+                sharpness:
+                    kwargs:
+                        sharpness:
+                            - 0.5
+                            - 1.5
+                    type: SharpnessJitter
+                    weight: 1
+        repo_id: saraparoji/mookrobot
+        revision: null
+        root: null
+        use_imagenet_stats: true
+        video_backend: torchcodec
+env:
+    value: null
+eval:
+    value:
+        batch_size: 50
+        n_episodes: 50
+        use_async_envs: false
+eval_freq:
+    value: 20000
+job_name:
+    value: redcube
+log_freq:
+    value: 200
+num_workers:
+    value: 4
+optimizer:
+    value:
+        betas:
+            - 0.9
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 10
+        lr: 1e-05
+        type: adamw
+        weight_decay: 0.0001
+output_dir:
+    value: outputs/train/act_so101_test2
+policy:
+    value:
+        chunk_size: 100
+        device: cuda
+        dim_feedforward: 3200
+        dim_model: 512
+        dropout: 0.1
+        feedforward_activation: relu
+        kl_weight: 10
+        latent_dim: 32
+        license: null
+        n_action_steps: 100
+        n_decoder_layers: 1
+        n_encoder_layers: 4
+        n_heads: 8
+        n_obs_steps: 1
+        n_vae_encoder_layers: 4
+        normalization_mapping:
+            ACTION: MEAN_STD
+            STATE: MEAN_STD
+            VISUAL: MEAN_STD
+        optimizer_lr: 1e-05
+        optimizer_lr_backbone: 1e-05
+        optimizer_weight_decay: 0.0001
+        pre_norm: false
+        pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+        private: null
+        push_to_hub: true
+        replace_final_stride_with_dilation: false
+        repo_id: saraparoji/trainedpolicy
+        tags: null
+        temporal_ensemble_coeff: null
+        type: act
+        use_amp: false
+        use_vae: true
+        vision_backbone: resnet18
+resume:
+    value: false
+save_checkpoint:
+    value: true
+save_freq:
+    value: 20000
+scheduler:
+    value: null
+seed:
+    value: 1000
+steps:
+    value: 100000
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: null

act_so101_test2/wandb/run-20250708_153056-2aeyl5mh/files/output.log

@@ -0,0 +1,61 @@
+Logs will be synced with wandb.
+INFO 2025-07-08 15:30:57 db_utils.py:103 Track this run --> https://wandb.ai/ayomookk-kuas-/lerobot/runs/2aeyl5mh
+INFO 2025-07-08 15:30:57 ts/train.py:127 Creating dataset
+Resolving data files: 100%|█████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 50/50 [00:00<00:00, 377185.61it/s]
+INFO 2025-07-08 15:30:58 ts/train.py:138 Creating policy
+INFO 2025-07-08 15:30:58 ts/train.py:144 Creating optimizer and scheduler
+INFO 2025-07-08 15:30:58 ts/train.py:156 Output dir: outputs/train/act_so101_test2
+INFO 2025-07-08 15:30:58 ts/train.py:159 cfg.steps=100000 (100K)
+INFO 2025-07-08 15:30:58 ts/train.py:160 dataset.num_frames=17724 (18K)
+INFO 2025-07-08 15:30:58 ts/train.py:161 dataset.num_episodes=50
+INFO 2025-07-08 15:30:58 ts/train.py:162 num_learnable_params=51597190 (52M)
+INFO 2025-07-08 15:30:58 ts/train.py:163 num_total_params=51597232 (52M)
+INFO 2025-07-08 15:30:58 ts/train.py:202 Start offline training on a fixed dataset
+Traceback (most recent call last):
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/runpy.py", line 196, in _run_module_as_main
+    return _run_code(code, main_globals, None,
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/runpy.py", line 86, in _run_code
+    exec(code, run_globals)
+  File "/home/cvl/lerobot/lerobot/scripts/train.py", line 291, in <module>
+    train()
+  File "/home/cvl/lerobot/lerobot/configs/parser.py", line 226, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/cvl/lerobot/lerobot/scripts/train.py", line 205, in train
+    batch = next(dl_iter)
+  File "/home/cvl/lerobot/lerobot/common/datasets/utils.py", line 641, in cycle
+    yield next(iterator)
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 631, in __next__
+    data = self._next_data()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 1346, in _next_data
+    return self._process_data(data)
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 1372, in _process_data
+    data.reraise()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/_utils.py", line 705, in reraise
+    raise exception
+ImportError: Caught ImportError in DataLoader worker process 0.
+Original Traceback (most recent call last):
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/worker.py", line 308, in _worker_loop
+    data = fetcher.fetch(index)  # type: ignore[possibly-undefined]
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 51, in fetch
+    data = [self.dataset[idx] for idx in possibly_batched_index]
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 51, in <listcomp>
+    data = [self.dataset[idx] for idx in possibly_batched_index]
+  File "/home/cvl/lerobot/lerobot/common/datasets/lerobot_dataset.py", line 717, in __getitem__
+    video_frames = self._query_videos(query_timestamps, ep_idx)
+  File "/home/cvl/lerobot/lerobot/common/datasets/lerobot_dataset.py", line 689, in _query_videos
+    frames = decode_video_frames(video_path, query_ts, self.tolerance_s, self.video_backend)
+  File "/home/cvl/lerobot/lerobot/common/datasets/video_utils.py", line 65, in decode_video_frames
+    return decode_video_frames_torchcodec(video_path, timestamps, tolerance_s)
+  File "/home/cvl/lerobot/lerobot/common/datasets/video_utils.py", line 189, in decode_video_frames_torchcodec
+    from torchcodec.decoders import VideoDecoder
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/__init__.py", line 10, in <module>
+    from . import decoders, samplers  # noqa
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/decoders/__init__.py", line 7, in <module>
+    from .._core import AudioStreamMetadata, VideoStreamMetadata
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/__init__.py", line 8, in <module>
+    from ._metadata import (
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/_metadata.py", line 15, in <module>
+    from torchcodec._core.ops import (
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/ops.py", line 14, in <module>
+    from torch.library import get_ctx, register_fake
+ImportError: cannot import name 'register_fake' from 'torch.library' (/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/library.py)

act_so101_test2/wandb/run-20250708_153056-2aeyl5mh/files/requirements.txt

@@ -0,0 +1,135 @@
+numpy==2.2.4
+dill==0.3.8
+nvidia-nvjitlink-cu12==12.4.127
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+2025-07-08 15:33:34,520 INFO    MainThread:707306 [wandb_init.py:init():893] starting backend
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+2025-07-08 15:33:34,522 INFO    MainThread:707306 [backend.py:_multiprocessing_setup():101] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
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+2025-07-08 15:33:37,761 INFO    MsgRouterThr:707306 [mailbox.py:close():129] [no run ID] Closing mailbox, abandoning 1 handles.

act_so101_test3/wandb/run-20250708_153334-dtgo7c1n/files/config.yaml

@@ -0,0 +1,168 @@
+_wandb:
+    value:
+        cli_version: 0.19.10
+        m: []
+        python_version: 3.10.13
+        t:
+            "1":
+                - 1
+                - 41
+                - 49
+                - 51
+                - 55
+            "2":
+                - 1
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+                - 13
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+            "4": 3.10.13
+            "5": 0.19.10
+            "8":
+                - 5
+            "10":
+                - 21
+            "12": 0.19.10
+            "13": linux-x86_64
+batch_size:
+    value: 8
+dataset:
+    value:
+        episodes: null
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
+            random_order: false
+            tfs:
+                brightness:
+                    kwargs:
+                        brightness:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                contrast:
+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                hue:
+                    kwargs:
+                        hue:
+                            - -0.05
+                            - 0.05
+                    type: ColorJitter
+                    weight: 1
+                saturation:
+                    kwargs:
+                        saturation:
+                            - 0.5
+                            - 1.5
+                    type: ColorJitter
+                    weight: 1
+                sharpness:
+                    kwargs:
+                        sharpness:
+                            - 0.5
+                            - 1.5
+                    type: SharpnessJitter
+                    weight: 1
+        repo_id: saraparoji/mookrobot
+        revision: null
+        root: null
+        use_imagenet_stats: true
+        video_backend: torchcodec
+env:
+    value: null
+eval:
+    value:
+        batch_size: 50
+        n_episodes: 50
+        use_async_envs: false
+eval_freq:
+    value: 20000
+job_name:
+    value: redcube
+log_freq:
+    value: 200
+num_workers:
+    value: 4
+optimizer:
+    value:
+        betas:
+            - 0.9
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 10
+        lr: 1e-05
+        type: adamw
+        weight_decay: 0.0001
+output_dir:
+    value: outputs/train/act_so101_test3
+policy:
+    value:
+        chunk_size: 100
+        device: cuda
+        dim_feedforward: 3200
+        dim_model: 512
+        dropout: 0.1
+        feedforward_activation: relu
+        kl_weight: 10
+        latent_dim: 32
+        license: null
+        n_action_steps: 100
+        n_decoder_layers: 1
+        n_encoder_layers: 4
+        n_heads: 8
+        n_obs_steps: 1
+        n_vae_encoder_layers: 4
+        normalization_mapping:
+            ACTION: MEAN_STD
+            STATE: MEAN_STD
+            VISUAL: MEAN_STD
+        optimizer_lr: 1e-05
+        optimizer_lr_backbone: 1e-05
+        optimizer_weight_decay: 0.0001
+        pre_norm: false
+        pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+        private: null
+        push_to_hub: true
+        replace_final_stride_with_dilation: false
+        repo_id: saraparoji/trainedpolicy
+        tags: null
+        temporal_ensemble_coeff: null
+        type: act
+        use_amp: false
+        use_vae: true
+        vision_backbone: resnet18
+resume:
+    value: false
+save_checkpoint:
+    value: true
+save_freq:
+    value: 20000
+scheduler:
+    value: null
+seed:
+    value: 1000
+steps:
+    value: 100000
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: null

act_so101_test3/wandb/run-20250708_153334-dtgo7c1n/files/output.log

@@ -0,0 +1,78 @@
+Logs will be synced with wandb.
+INFO 2025-07-08 15:33:35 db_utils.py:103 Track this run --> https://wandb.ai/ayomookk-kuas-/lerobot/runs/dtgo7c1n
+INFO 2025-07-08 15:33:35 ts/train.py:127 Creating dataset
+Resolving data files: 100%|█████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 50/50 [00:00<00:00, 408006.23it/s]
+INFO 2025-07-08 15:33:36 ts/train.py:138 Creating policy
+INFO 2025-07-08 15:33:36 ts/train.py:144 Creating optimizer and scheduler
+INFO 2025-07-08 15:33:36 ts/train.py:156 Output dir: outputs/train/act_so101_test3
+INFO 2025-07-08 15:33:36 ts/train.py:159 cfg.steps=100000 (100K)
+INFO 2025-07-08 15:33:36 ts/train.py:160 dataset.num_frames=17724 (18K)
+INFO 2025-07-08 15:33:36 ts/train.py:161 dataset.num_episodes=50
+INFO 2025-07-08 15:33:36 ts/train.py:162 num_learnable_params=51597190 (52M)
+INFO 2025-07-08 15:33:36 ts/train.py:163 num_total_params=51597232 (52M)
+INFO 2025-07-08 15:33:36 ts/train.py:202 Start offline training on a fixed dataset
+Traceback (most recent call last):
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/runpy.py", line 196, in _run_module_as_main
+    return _run_code(code, main_globals, None,
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/runpy.py", line 86, in _run_code
+    exec(code, run_globals)
+  File "/home/cvl/lerobot/lerobot/scripts/train.py", line 291, in <module>
+    train()
+  File "/home/cvl/lerobot/lerobot/configs/parser.py", line 226, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/cvl/lerobot/lerobot/scripts/train.py", line 205, in train
+    batch = next(dl_iter)
+  File "/home/cvl/lerobot/lerobot/common/datasets/utils.py", line 641, in cycle
+    yield next(iterator)
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 701, in __next__
+    data = self._next_data()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 1465, in _next_data
+    return self._process_data(data)
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 1491, in _process_data
+    data.reraise()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/_utils.py", line 715, in reraise
+    raise exception
+RuntimeError: Caught RuntimeError in DataLoader worker process 0.
+Original Traceback (most recent call last):
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/worker.py", line 351, in _worker_loop
+    data = fetcher.fetch(index)  # type: ignore[possibly-undefined]
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 52, in fetch
+    data = [self.dataset[idx] for idx in possibly_batched_index]
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 52, in <listcomp>
+    data = [self.dataset[idx] for idx in possibly_batched_index]
+  File "/home/cvl/lerobot/lerobot/common/datasets/lerobot_dataset.py", line 717, in __getitem__
+    video_frames = self._query_videos(query_timestamps, ep_idx)
+  File "/home/cvl/lerobot/lerobot/common/datasets/lerobot_dataset.py", line 689, in _query_videos
+    frames = decode_video_frames(video_path, query_ts, self.tolerance_s, self.video_backend)
+  File "/home/cvl/lerobot/lerobot/common/datasets/video_utils.py", line 65, in decode_video_frames
+    return decode_video_frames_torchcodec(video_path, timestamps, tolerance_s)
+  File "/home/cvl/lerobot/lerobot/common/datasets/video_utils.py", line 189, in decode_video_frames_torchcodec
+    from torchcodec.decoders import VideoDecoder
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/__init__.py", line 10, in <module>
+    from . import decoders, samplers  # noqa
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/decoders/__init__.py", line 7, in <module>
+    from .._core import AudioStreamMetadata, VideoStreamMetadata
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/__init__.py", line 8, in <module>
+    from ._metadata import (
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/_metadata.py", line 15, in <module>
+    from torchcodec._core.ops import (
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/ops.py", line 86, in <module>
+    load_torchcodec_shared_libraries()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/ops.py", line 71, in load_torchcodec_shared_libraries
+    raise RuntimeError(
+RuntimeError: Could not load libtorchcodec. Likely causes:
+          1. FFmpeg is not properly installed in your environment. We support
+             versions 4, 5, 6 and 7.
+          2. The PyTorch version (2.5.1+cu121) is not compatible with
+             this version of TorchCodec. Refer to the version compatibility
+             table:
+             https://github.com/pytorch/torchcodec?tab=readme-ov-file#installing-torchcodec.
+          3. Another runtime dependency; see exceptions below.
+        The following exceptions were raised as we tried to load libtorchcodec:
+
+[start of libtorchcodec loading traceback]
+FFmpeg version 7: /home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/libtorchcodec_decoder7.so: undefined symbol: _ZN3c106DeviceC1ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE
+FFmpeg version 6: libavutil.so.58: cannot open shared object file: No such file or directory
+FFmpeg version 5: libavutil.so.57: cannot open shared object file: No such file or directory
+FFmpeg version 4: libavutil.so.56: cannot open shared object file: No such file or directory
+[end of libtorchcodec loading traceback].

act_so101_test3/wandb/run-20250708_153334-dtgo7c1n/files/requirements.txt

@@ -0,0 +1,151 @@
+numpy==2.2.4
+dill==0.3.8
+nvidia-nvjitlink-cu12==12.4.127
+gitdb==4.0.12
+zarr==2.18.3
+setuptools==75.8.0
+pytz==2025.2
+antlr4-python3-runtime==4.9.3
+pydantic_core==2.33.1
+cffi==1.17.1
+wandb==0.19.10
+mypy_extensions==1.1.0
+pfzy==0.3.4
+fasteners==0.19
+aiosignal==1.3.2
+certifi==2025.6.15
+nvidia-cuda-nvrtc-cu12==12.1.105
+async-timeout==5.0.1
+huggingface-hub==0.30.2
+GitPython==3.1.44
+frozenlist==1.6.0
+torchaudio==2.3.0+cu121
+PyYAML==6.0.2
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+sentry-sdk==2.26.1
+networkx==3.4.2
+docker-pycreds==0.4.0
+cmake==4.0.0
+pandas==2.2.3
+torchcodec==0.3.0
+triton==3.1.0
+multiprocess==0.70.16
+protobuf==6.30.2
+pyzmq==26.4.0
+python-xlib==0.33
+urllib3==2.4.0
+opencv-python-headless==4.11.0
+h5py==3.13.0
+requests==2.32.3
+numba==0.61.2
+annotated-types==0.7.0
+nvidia-cusparselt-cu12==0.6.2
+six==1.17.0
+tqdm==4.67.1
+nvidia-cuda-runtime-cu12==12.1.105
+pyyaml-include==1.4.1
+regex==2024.11.6
+Werkzeug==3.1.3
+blinker==1.9.0
+attrs==25.3.0
+yarl==1.20.0
+mpmath==1.3.0
+typing-inspect==0.9.0
+nvidia-cuda-cupti-cu12==12.1.105
+importlib_metadata==8.6.1
+termcolor==3.0.1
+wcwidth==0.2.13
+itsdangerous==2.2.0
+idna==3.10
+imageio-ffmpeg==0.6.0
+hf_transfer==0.1.9
+smmap==5.0.2
+beautifulsoup4==4.13.4
+nvidia-cublas-cu12==12.1.3.1
+nvidia-nvtx-cu12==12.1.105
+torch==2.5.1+cu121
+einops==0.8.1
+aiohappyeyeballs==2.6.1
+lerobot==0.1.0
+numcodecs==0.13.1
+pynput==1.8.1
+nvidia-cusolver-cu12==11.4.5.107
+gymnasium==0.29.1
+pip==25.0
+jsonlines==4.0.0
+opencv-python==4.11.0
+imageio==2.37.0
+numpy==2.2.5
+MarkupSafe==3.0.2
+toml==0.10.2
+Flask==3.1.0
+inquirerpy==0.3.4
+orderly-set==5.4.0
+psutil==7.0.0
+nvidia-cufft-cu12==11.0.2.54
+typing-inspection==0.4.0
+asciitree==0.3.3
+pyserial==3.5
+pycparser==2.22
+setproctitle==1.3.5
+feetech-servo-sdk==1.0.0
+mergedeep==1.3.4
+tzdata==2025.2
+gdown==5.2.0
+charset-normalizer==3.4.1
+nvidia-curand-cu12==10.3.2.106
+zipp==3.21.0
+propcache==0.3.1
+python-dateutil==2.9.0.post0
+filelock==3.18.0
+nvidia-cudnn-cu12==9.1.0.70
+pymunk==6.11.1
+click==8.1.8
+omegaconf==2.3.0
+datasets==3.5.0
+scipy==1.15.3
+pydantic==2.11.3
+pillow==11.2.1
+av==14.3.0
+llvmlite==0.44.0
+pyav==14.2.1
+soupsieve==2.7
+PySocks==1.7.1
+aiohttp==3.11.18
+rerun-sdk==0.22.1
+fsspec==2024.12.0
+wheel==0.45.1
+nvidia-nccl-cu12==2.21.5
+deepdiff==8.4.2
+prompt_toolkit==3.0.51
+sympy==1.13.1
+packaging==25.0
+pyarrow==19.0.1
+xxhash==3.5.0
+Jinja2==3.1.6
+diffusers==0.33.1
+torchvision==0.20.1+cu121
+backports.tarfile==1.2.0
+jaraco.text==3.12.1
+jaraco.collections==5.1.0
+packaging==24.2
+importlib_metadata==8.0.0
+typing_extensions==4.12.2
+jaraco.functools==4.0.1
+zipp==3.19.2
+inflect==7.3.1
+more-itertools==10.3.0
+jaraco.context==5.3.0
+platformdirs==4.2.2
+wheel==0.43.0
+tomli==2.0.1
+typeguard==4.3.0
+autocommand==2.2.2

act_so101_test3/wandb/run-20250708_153334-dtgo7c1n/files/wandb-metadata.json

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+{
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+  "python": "CPython 3.10.13",
+  "startedAt": "2025-07-08T06:33:34.522234Z",
+  "args": [
+    "--dataset.repo_id=saraparoji/mookrobot",
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+    "--output_dir=outputs/train/act_so101_test3",
+    "--job_name=redcube",
+    "--policy.device=cuda",
+    "--wandb.enable=true",
+    "--policy.repo_id=saraparoji/trainedpolicy"
+  ],
+  "program": "-m lerobot.scripts.train",
+  "git": {
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+    "commit": "483be9aac217c2d8ef16982490f22b2ad091ab46"
+  },
+  "root": "outputs/train/act_so101_test3",
+  "host": "cvl-genesis",
+  "executable": "/home/cvl/miniconda3/envs/lerobot/bin/python",
+  "cpu_count": 8,
+  "cpu_count_logical": 16,
+  "gpu": "NVIDIA GeForce RTX 3080",
+  "gpu_count": 1,
+  "disk": {
+    "/": {
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+      "used": "107247128576"
+    }
+  },
+  "memory": {
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+  },
+  "cpu": {
+    "count": 8,
+    "countLogical": 16
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA GeForce RTX 3080",
+      "memoryTotal": "10737418240",
+      "cudaCores": 8704,
+      "architecture": "Ampere"
+    }
+  ],
+  "cudaVersion": "12.6"
+}

act_so101_test3/wandb/run-20250708_153334-dtgo7c1n/files/wandb-summary.json

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act_so101_test4/wandb/run-20250708_153651-7960mz4z/files/output.log

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+Logs will be synced with wandb.
+INFO 2025-07-08 15:36:52 db_utils.py:103 Track this run --> https://wandb.ai/ayomookk-kuas-/lerobot/runs/7960mz4z
+INFO 2025-07-08 15:36:52 ts/train.py:127 Creating dataset
+Resolving data files: 100%|█████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 50/50 [00:00<00:00, 415277.62it/s]
+INFO 2025-07-08 15:36:53 ts/train.py:138 Creating policy
+INFO 2025-07-08 15:36:54 ts/train.py:144 Creating optimizer and scheduler
+INFO 2025-07-08 15:36:54 ts/train.py:156 Output dir: outputs/train/act_so101_test4
+INFO 2025-07-08 15:36:54 ts/train.py:159 cfg.steps=100000 (100K)
+INFO 2025-07-08 15:36:54 ts/train.py:160 dataset.num_frames=17724 (18K)
+INFO 2025-07-08 15:36:54 ts/train.py:161 dataset.num_episodes=50
+INFO 2025-07-08 15:36:54 ts/train.py:162 num_learnable_params=51597190 (52M)
+INFO 2025-07-08 15:36:54 ts/train.py:163 num_total_params=51597232 (52M)
+INFO 2025-07-08 15:36:54 ts/train.py:202 Start offline training on a fixed dataset
+Traceback (most recent call last):
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/runpy.py", line 196, in _run_module_as_main
+    return _run_code(code, main_globals, None,
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/runpy.py", line 86, in _run_code
+    exec(code, run_globals)
+  File "/home/cvl/lerobot/lerobot/scripts/train.py", line 291, in <module>
+    train()
+  File "/home/cvl/lerobot/lerobot/configs/parser.py", line 226, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/cvl/lerobot/lerobot/scripts/train.py", line 205, in train
+    batch = next(dl_iter)
+  File "/home/cvl/lerobot/lerobot/common/datasets/utils.py", line 641, in cycle
+    yield next(iterator)
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 631, in __next__
+    data = self._next_data()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 1346, in _next_data
+    return self._process_data(data)
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 1372, in _process_data
+    data.reraise()
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/_utils.py", line 705, in reraise
+    raise exception
+ImportError: Caught ImportError in DataLoader worker process 0.
+Original Traceback (most recent call last):
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/worker.py", line 308, in _worker_loop
+    data = fetcher.fetch(index)  # type: ignore[possibly-undefined]
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 51, in fetch
+    data = [self.dataset[idx] for idx in possibly_batched_index]
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 51, in <listcomp>
+    data = [self.dataset[idx] for idx in possibly_batched_index]
+  File "/home/cvl/lerobot/lerobot/common/datasets/lerobot_dataset.py", line 717, in __getitem__
+    video_frames = self._query_videos(query_timestamps, ep_idx)
+  File "/home/cvl/lerobot/lerobot/common/datasets/lerobot_dataset.py", line 689, in _query_videos
+    frames = decode_video_frames(video_path, query_ts, self.tolerance_s, self.video_backend)
+  File "/home/cvl/lerobot/lerobot/common/datasets/video_utils.py", line 65, in decode_video_frames
+    return decode_video_frames_torchcodec(video_path, timestamps, tolerance_s)
+  File "/home/cvl/lerobot/lerobot/common/datasets/video_utils.py", line 189, in decode_video_frames_torchcodec
+    from torchcodec.decoders import VideoDecoder
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/__init__.py", line 10, in <module>
+    from . import decoders, samplers  # noqa
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/decoders/__init__.py", line 7, in <module>
+    from .._core import AudioStreamMetadata, VideoStreamMetadata
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/__init__.py", line 8, in <module>
+    from ._metadata import (
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/_metadata.py", line 15, in <module>
+    from torchcodec._core.ops import (
+  File "/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torchcodec/_core/ops.py", line 14, in <module>
+    from torch.library import get_ctx, register_fake
+ImportError: cannot import name 'register_fake' from 'torch.library' (/home/cvl/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/library.py)

act_so101_test4/wandb/run-20250708_153651-7960mz4z/files/requirements.txt

@@ -0,0 +1,135 @@
+numpy==2.2.4
+dill==0.3.8
+nvidia-nvjitlink-cu12==12.4.127
+gitdb==4.0.12
+zarr==2.18.3
+setuptools==75.8.0
+pytz==2025.2
+nvidia-nccl-cu12==2.20.5
+antlr4-python3-runtime==4.9.3
+pydantic_core==2.33.1
+cffi==1.17.1
+wandb==0.19.10
+nvidia-cudnn-cu12==8.9.2.26
+mypy_extensions==1.1.0
+pfzy==0.3.4
+fasteners==0.19
+aiosignal==1.3.2
+certifi==2025.6.15
+nvidia-cuda-nvrtc-cu12==12.1.105
+async-timeout==5.0.1
+huggingface-hub==0.30.2
+GitPython==3.1.44
+frozenlist==1.6.0
+torchaudio==2.3.0+cu121
+PyYAML==6.0.2
+draccus==0.10.0
+safetensors==0.5.3
+cloudpickle==3.1.1
+typing_extensions==4.13.2
+platformdirs==4.3.7
+evdev==1.9.1
+Farama-Notifications==0.0.4
+multidict==6.4.3
+nvidia-cusparse-cu12==12.1.0.106
+sentry-sdk==2.26.1
+networkx==3.4.2
+docker-pycreds==0.4.0
+cmake==4.0.0
+pandas==2.2.3
+torchcodec==0.3.0
+multiprocess==0.70.16
+protobuf==6.30.2
+pyzmq==26.4.0
+python-xlib==0.33
+urllib3==2.4.0
+opencv-python-headless==4.11.0
+h5py==3.13.0
+requests==2.32.3
+numba==0.61.2
+annotated-types==0.7.0
+nvidia-cusparselt-cu12==0.6.2
+six==1.17.0
+tqdm==4.67.1
+nvidia-cuda-runtime-cu12==12.1.105
+pyyaml-include==1.4.1
+regex==2024.11.6
+Werkzeug==3.1.3
+blinker==1.9.0
+attrs==25.3.0
+yarl==1.20.0
+mpmath==1.3.0
+typing-inspect==0.9.0
+nvidia-cuda-cupti-cu12==12.1.105
+importlib_metadata==8.6.1
+termcolor==3.0.1
+wcwidth==0.2.13
+itsdangerous==2.2.0
+idna==3.10
+imageio-ffmpeg==0.6.0
+hf_transfer==0.1.9
+smmap==5.0.2
+beautifulsoup4==4.13.4
+nvidia-cublas-cu12==12.1.3.1
+nvidia-nvtx-cu12==12.1.105
+einops==0.8.1
+aiohappyeyeballs==2.6.1
+lerobot==0.1.0
+numcodecs==0.13.1
+pynput==1.8.1
+nvidia-cusolver-cu12==11.4.5.107
+gymnasium==0.29.1
+pip==25.0
+jsonlines==4.0.0
+opencv-python==4.11.0
+imageio==2.37.0
+numpy==2.2.5
+MarkupSafe==3.0.2
+toml==0.10.2
+Flask==3.1.0
+inquirerpy==0.3.4
+orderly-set==5.4.0
+triton==2.3.0
+psutil==7.0.0
+nvidia-cufft-cu12==11.0.2.54
+typing-inspection==0.4.0
+asciitree==0.3.3
+pyserial==3.5
+torch==2.3.0+cu121
+pycparser==2.22
+torchvision==0.18.0+cu121
+setproctitle==1.3.5
+feetech-servo-sdk==1.0.0
+mergedeep==1.3.4
+tzdata==2025.2
+gdown==5.2.0
+charset-normalizer==3.4.1
+nvidia-curand-cu12==10.3.2.106
+zipp==3.21.0
+propcache==0.3.1
+python-dateutil==2.9.0.post0
+filelock==3.18.0
+pymunk==6.11.1
+click==8.1.8
+omegaconf==2.3.0
+datasets==3.5.0
+scipy==1.15.3
+pydantic==2.11.3
+pillow==11.2.1
+av==14.3.0
+llvmlite==0.44.0
+pyav==14.2.1
+soupsieve==2.7
+PySocks==1.7.1
+aiohttp==3.11.18
+rerun-sdk==0.22.1
+fsspec==2024.12.0
+wheel==0.45.1
+deepdiff==8.4.2
+prompt_toolkit==3.0.51
+sympy==1.13.1
+packaging==25.0
+pyarrow==19.0.1
+xxhash==3.5.0
+Jinja2==3.1.6
+diffusers==0.33.1