2025-09-07 00:46:08,119 INFO    MainThread:3492 [wandb_setup.py:_flush():80] Current SDK version is 0.21.0
2025-09-07 00:46:08,120 INFO    MainThread:3492 [wandb_setup.py:_flush():80] Configure stats pid to 3492
2025-09-07 00:46:08,120 INFO    MainThread:3492 [wandb_setup.py:_flush():80] Loading settings from /home/ubuntu/.config/wandb/settings
2025-09-07 00:46:08,120 INFO    MainThread:3492 [wandb_setup.py:_flush():80] Loading settings from /home/ubuntu/projects/policy/wandb/settings
2025-09-07 00:46:08,120 INFO    MainThread:3492 [wandb_setup.py:_flush():80] Loading settings from environment variables
2025-09-07 00:46:08,120 INFO    MainThread:3492 [wandb_init.py:setup_run_log_directory():703] Logging user logs to outputs/train/pusht_60_v5/2025-09-07_00-46-03_dp_abs_v5/wandb/run-20250907_004608-v3z0gb4e/logs/debug.log
2025-09-07 00:46:08,120 INFO    MainThread:3492 [wandb_init.py:setup_run_log_directory():704] Logging internal logs to outputs/train/pusht_60_v5/2025-09-07_00-46-03_dp_abs_v5/wandb/run-20250907_004608-v3z0gb4e/logs/debug-internal.log
2025-09-07 00:46:08,120 INFO    MainThread:3492 [wandb_init.py:init():830] calling init triggers
2025-09-07 00:46:08,120 INFO    MainThread:3492 [wandb_init.py:init():835] wandb.init called with sweep_config: {}
config: {'dataset': {'repo_id': 'pusht_60_v5', 'root': None, 'episodes': None, 'image_transforms': {'enable': True, 'max_num_transforms': 3, 'random_order': True, '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]}}, 'perspective': {'weight': 1.0, 'type': 'RandomPerspective', 'kwargs': {'distortion_scale': 0.025, 'p': 1.0}}, 'rotation': {'weight': 1.0, 'type': 'RandomRotation', 'kwargs': {'degrees': [-5, 5]}}, 'crop': {'weight': 1.0, 'type': 'RandomCrop', 'kwargs': {'size': [200, 200]}}}, 'downsample': {'resize': {'weight': 1.0, 'type': 'Resize', 'kwargs': {'size': [240, 240]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec'}, 'env': None, 'policy': {'type': 'diffusion', 'n_obs_steps': 1, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>, 'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>}, 'relative_actions': False, 'input_features': {'observation.image.side': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 240, 240]}, 'observation.image.wrist': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 240, 240]}, 'observation.state': {'type': <FeatureType.STATE: 'STATE'>, 'shape': [2]}}, 'output_features': {'action': {'type': <FeatureType.ACTION: 'ACTION'>, 'shape': [2]}}, 'device': 'cuda', 'use_amp': False, 'horizon': 64, 'n_action_steps': 50, 'drop_n_last_frames': 13, 'vision_backbone': 'resnet18', 'crop_shape': [240, 240], 'random_rotation_deg': 0.0, 'pretrained_backbone_weights': None, 'use_group_norm': True, 'spatial_softmax_num_keypoints': 32, 'use_separate_rgb_encoder_per_camera': False, 'down_dims': [512, 1024, 2048], 'kernel_size': 5, 'n_groups': 8, 'diffusion_step_embed_dim': 128, 'use_film_scale_modulation': True, 'noise_scheduler_type': 'DDPM', 'num_train_timesteps': 100, 'beta_schedule': 'squaredcos_cap_v2', 'beta_start': 0.0001, 'beta_end': 0.02, 'prediction_type': 'epsilon', 'clip_sample': True, 'clip_sample_range': 1.0, 'num_inference_steps': 10, 'do_mask_loss_for_padding': False, 'optimizer_lr': 0.0001, 'optimizer_betas': [0.95, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-06, 'scheduler_name': 'cosine', 'scheduler_warmup_steps': 500}, 'output_dir': 'outputs/train/pusht_60_v5/2025-09-07_00-46-03_dp_abs_v5', 'job_name': '2025-09-07_00-46-03_dp_abs_v5', 'resume': False, 'seed': 100000, 'num_workers': 4, 'batch_size': 512, 'steps': 20000, 'eval_freq': 2000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 1000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adam', 'lr': 0.0001, 'weight_decay': 1e-06, 'grad_clip_norm': 10.0, 'betas': [0.95, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 500, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, '_wandb': {}}
2025-09-07 00:46:08,120 INFO    MainThread:3492 [wandb_init.py:init():871] starting backend
2025-09-07 00:46:08,325 INFO    MainThread:3492 [wandb_init.py:init():874] sending inform_init request
2025-09-07 00:46:08,328 INFO    MainThread:3492 [wandb_init.py:init():882] backend started and connected
2025-09-07 00:46:08,330 INFO    MainThread:3492 [wandb_init.py:init():953] updated telemetry
2025-09-07 00:46:08,333 INFO    MainThread:3492 [wandb_init.py:init():977] communicating run to backend with 90.0 second timeout
2025-09-07 00:46:08,728 INFO    MainThread:3492 [wandb_init.py:init():1029] starting run threads in backend
2025-09-07 00:46:08,808 INFO    MainThread:3492 [wandb_run.py:_console_start():2458] atexit reg
2025-09-07 00:46:08,809 INFO    MainThread:3492 [wandb_run.py:_redirect():2306] redirect: wrap_raw
2025-09-07 00:46:08,809 INFO    MainThread:3492 [wandb_run.py:_redirect():2375] Wrapping output streams.
2025-09-07 00:46:08,809 INFO    MainThread:3492 [wandb_run.py:_redirect():2398] Redirects installed.
2025-09-07 00:46:08,810 INFO    MainThread:3492 [wandb_init.py:init():1075] run started, returning control to user process