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+ - 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: shylee/so100_cube + revision: null + root: /SSD/LSY/lerobot + 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: DP_cube_downDims1_cropNo_freeze1_16_16_ema1_1e-4 +log_freq: + value: 200 +num_workers: + value: 4 +optimizer: + value: + betas: + - 0.95 + - 0.999 + eps: 1e-08 + grad_clip_norm: 10 + lr: 0.0001 + type: adam + weight_decay: 1e-06 +output_dir: + value: /SSD/LSY/lerobot_model/DP_cube_downDims1_cropNo_freeze1_16_16_ema1_1e-4 +policy: + value: + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + beta_start: 0.0001 + clip_sample: true + clip_sample_range: 1 + crop_is_random: false + crop_shape: + - 480 + - 640 + device: cuda + diffusion_step_embed_dim: 128 + do_mask_loss_for_padding: false + down_dims: + - 256 + - 512 + - 1024 + drop_n_last_frames: 7 + ema_lambda: 0.5 + freeze_vision_backbone: true + horizon: 16 + kernel_size: 5 + n_action_steps: 16 + n_groups: 8 + n_obs_steps: 2 + noise_scheduler_type: DDIM + normalization_mapping: + ACTION: MIN_MAX + STATE: MIN_MAX + VISUAL: MEAN_STD + num_inference_steps: 10 + num_train_timesteps: 100 + optimizer_betas: + - 0.95 + - 0.999 + optimizer_eps: 1e-08 + optimizer_lr: 0.0001 + optimizer_weight_decay: 1e-06 + pre_resize_shape: null + prediction_type: epsilon + pretrained_backbone_weights: ResNet50_Weights.IMAGENET1K_V1 + scheduler_name: cosine + scheduler_warmup_steps: 500 + spatial_softmax_num_keypoints: 32 + type: diffusion + use_amp: false + use_ema: true + use_film_scale_modulation: true + use_group_norm: false + use_separate_rgb_encoder_per_camera: false + vision_backbone: resnet50 +resume: + value: false +save_checkpoint: + value: true +save_freq: + value: 60000 +scheduler: + value: + name: cosine + num_warmup_steps: 500 + type: diffuser +seed: + value: 1000 +steps: + value: 480000 +use_policy_training_preset: + value: true +wandb: + value: + disable_artifact: false + enable: true + entity: null + mode: null + notes: null + project: lerobot + run_id: null diff --git a/DP_cube_downDims1_cropNo_freeze1_16_16_ema1_1e-4/wandb/run-20250503_130343-yd8ehjnc/files/output.log b/DP_cube_downDims1_cropNo_freeze1_16_16_ema1_1e-4/wandb/run-20250503_130343-yd8ehjnc/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..88cde114bb12ff5dee86c03c48fc30a097857990 --- /dev/null +++ b/DP_cube_downDims1_cropNo_freeze1_16_16_ema1_1e-4/wandb/run-20250503_130343-yd8ehjnc/files/output.log @@ -0,0 +1,2422 @@ +Logs will be synced with wandb. +INFO 2025-05-03 13:03:44 ndb_utils.py:96 Track this run --> https://wandb.ai/marchmelo0923-postech/lerobot/runs/yd8ehjnc +INFO 2025-05-03 13:03:44 ts/train.py:127 Creating dataset +Resolving data files: 100%|██████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 200/200 [00:00<00:00, 338523.33it/s] +INFO 2025-05-03 13:03:46 ts/train.py:138 Creating policy +INFO 2025-05-03 13:03:48 ts/train.py:144 Creating optimizer and scheduler +INFO 2025-05-03 13:03:48 ts/train.py:156 Output dir: /SSD/LSY/lerobot_model/DP_cube_downDims1_cropNo_freeze1_16_16_ema1_1e-4 +INFO 2025-05-03 13:03:48 ts/train.py:159 cfg.steps=480000 (480K) +INFO 2025-05-03 13:03:48 ts/train.py:160 dataset.num_frames=58213 (58K) +INFO 2025-05-03 13:03:48 ts/train.py:161 dataset.num_episodes=200 +INFO 2025-05-03 13:03:48 ts/train.py:162 num_learnable_params=83699686 (84M) +INFO 2025-05-03 13:03:48 ts/train.py:163 num_total_params=92243036 (92M) +INFO 2025-05-03 13:03:48 ts/train.py:202 Start offline training on a fixed dataset +INFO 2025-05-03 13:04:34 ts/train.py:232 step:200 smpl:2K ep:5 epch:0.03 loss:0.860 grdn:4.316 lr:2.0e-05 updt_s:0.219 data_s:0.008 +INFO 2025-05-03 13:05:12 ts/train.py:232 step:400 smpl:3K ep:11 epch:0.05 loss:0.213 grdn:3.384 lr:6.0e-05 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:05:50 ts/train.py:232 step:600 smpl:5K ep:16 epch:0.08 loss:0.134 grdn:2.316 lr:9.5e-05 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:06:27 ts/train.py:232 step:800 smpl:6K ep:22 epch:0.11 loss:0.087 grdn:1.530 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:07:05 ts/train.py:232 step:1K smpl:8K ep:27 epch:0.14 loss:0.069 grdn:1.313 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:07:43 ts/train.py:232 step:1K smpl:10K ep:33 epch:0.16 loss:0.065 grdn:1.216 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:08:20 ts/train.py:232 step:1K smpl:11K ep:38 epch:0.19 loss:0.060 grdn:1.135 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:08:58 ts/train.py:232 step:2K smpl:13K ep:44 epch:0.22 loss:0.047 grdn:0.916 lr:1.0e-04 updt_s:0.187 data_s:0.000 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ep:88 epch:0.44 loss:0.039 grdn:0.737 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:14:37 ts/train.py:232 step:3K smpl:27K ep:93 epch:0.47 loss:0.040 grdn:0.724 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:15:14 ts/train.py:232 step:4K smpl:29K ep:99 epch:0.49 loss:0.034 grdn:0.635 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:15:52 ts/train.py:232 step:4K smpl:30K ep:104 epch:0.52 loss:0.034 grdn:0.624 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:16:29 ts/train.py:232 step:4K smpl:32K ep:110 epch:0.55 loss:0.034 grdn:0.634 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:17:07 ts/train.py:232 step:4K smpl:34K ep:115 epch:0.58 loss:0.033 grdn:0.607 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:17:45 ts/train.py:232 step:4K smpl:35K ep:121 epch:0.60 loss:0.032 grdn:0.598 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:18:22 ts/train.py:232 step:5K smpl:37K ep:126 epch:0.63 loss:0.033 grdn:0.604 lr:1.0e-04 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ts/train.py:232 step:6K smpl:50K ep:170 epch:0.85 loss:0.026 grdn:0.463 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:24:00 ts/train.py:232 step:6K smpl:51K ep:176 epch:0.88 loss:0.032 grdn:0.548 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:24:38 ts/train.py:232 step:7K smpl:53K ep:181 epch:0.91 loss:0.027 grdn:0.464 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:25:16 ts/train.py:232 step:7K smpl:54K ep:187 epch:0.93 loss:0.027 grdn:0.480 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:25:53 ts/train.py:232 step:7K smpl:56K ep:192 epch:0.96 loss:0.027 grdn:0.468 lr:1.0e-04 updt_s:0.188 data_s:0.000 +INFO 2025-05-03 13:26:37 ts/train.py:232 step:7K smpl:58K ep:198 epch:0.99 loss:0.030 grdn:0.494 lr:1.0e-04 updt_s:0.211 data_s:0.007 +INFO 2025-05-03 13:27:15 ts/train.py:232 step:7K smpl:59K ep:203 epch:1.02 loss:0.027 grdn:0.449 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:27:52 ts/train.py:232 step:8K smpl:61K ep:209 epch:1.04 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ts/train.py:232 step:11K smpl:85K ep:291 epch:1.46 loss:0.022 grdn:0.397 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:37:54 ts/train.py:232 step:11K smpl:86K ep:297 epch:1.48 loss:0.022 grdn:0.391 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:38:32 ts/train.py:232 step:11K smpl:88K ep:302 epch:1.51 loss:0.028 grdn:0.442 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:39:09 ts/train.py:232 step:11K smpl:90K ep:308 epch:1.54 loss:0.026 grdn:0.416 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:39:47 ts/train.py:232 step:11K smpl:91K ep:313 epch:1.57 loss:0.025 grdn:0.408 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:40:25 ts/train.py:232 step:12K smpl:93K ep:319 epch:1.59 loss:0.025 grdn:0.399 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:41:02 ts/train.py:232 step:12K smpl:94K ep:324 epch:1.62 loss:0.023 grdn:0.376 lr:1.0e-04 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 13:41:40 ts/train.py:232 step:12K smpl:96K ep:330 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16:12:11 ts/train.py:241 Checkpoint policy after step 60000 +INFO 2025-05-03 16:12:51 ts/train.py:232 step:60K smpl:482K ep:2K epch:8.27 loss:0.014 grdn:0.277 lr:9.6e-05 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 16:13:29 ts/train.py:232 step:60K smpl:483K ep:2K epch:8.30 loss:0.012 grdn:0.266 lr:9.6e-05 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 16:14:06 ts/train.py:232 step:61K smpl:485K ep:2K epch:8.33 loss:0.011 grdn:0.251 lr:9.6e-05 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 16:14:44 ts/train.py:232 step:61K smpl:486K ep:2K epch:8.36 loss:0.013 grdn:0.283 lr:9.6e-05 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 16:15:21 ts/train.py:232 step:61K smpl:488K ep:2K epch:8.38 loss:0.012 grdn:0.255 lr:9.6e-05 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 16:15:58 ts/train.py:232 step:61K smpl:490K ep:2K epch:8.41 loss:0.013 grdn:0.279 lr:9.6e-05 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 16:16:36 ts/train.py:232 step:61K smpl:491K ep:2K epch:8.44 loss:0.012 grdn:0.262 lr:9.6e-05 updt_s:0.187 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epch:24.85 loss:0.007 grdn:0.211 lr:6.9e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 22:30:32 ts/train.py:232 step:181K smpl:1M ep:5K epch:24.87 loss:0.008 grdn:0.222 lr:6.9e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 22:31:09 ts/train.py:232 step:181K smpl:1M ep:5K epch:24.90 loss:0.007 grdn:0.198 lr:6.9e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 22:31:47 ts/train.py:232 step:181K smpl:1M ep:5K epch:24.93 loss:0.008 grdn:0.244 lr:6.9e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 22:32:24 ts/train.py:232 step:182K smpl:1M ep:5K epch:24.96 loss:0.008 grdn:0.233 lr:6.9e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 22:33:01 ts/train.py:232 step:182K smpl:1M ep:5K epch:24.98 loss:0.008 grdn:0.230 lr:6.9e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 22:33:39 ts/train.py:232 step:182K smpl:1M ep:5K epch:25.01 loss:0.007 grdn:0.200 lr:6.9e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 22:34:16 ts/train.py:232 step:182K smpl:1M ep:5K epch:25.04 loss:0.007 grdn:0.218 lr:6.9e-05 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23:34:12 ts/train.py:232 step:201K smpl:2M ep:6K epch:27.68 loss:0.006 grdn:0.212 lr:6.3e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 23:34:50 ts/train.py:232 step:202K smpl:2M ep:6K epch:27.71 loss:0.006 grdn:0.218 lr:6.3e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 23:35:27 ts/train.py:232 step:202K smpl:2M ep:6K epch:27.73 loss:0.007 grdn:0.216 lr:6.2e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 23:36:04 ts/train.py:232 step:202K smpl:2M ep:6K epch:27.76 loss:0.007 grdn:0.212 lr:6.2e-05 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 23:36:42 ts/train.py:232 step:202K smpl:2M ep:6K epch:27.79 loss:0.006 grdn:0.203 lr:6.2e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 23:37:19 ts/train.py:232 step:202K smpl:2M ep:6K epch:27.82 loss:0.008 grdn:0.234 lr:6.2e-05 updt_s:0.187 data_s:0.000 +INFO 2025-05-03 23:37:57 ts/train.py:232 step:203K smpl:2M ep:6K epch:27.84 loss:0.007 grdn:0.233 lr:6.2e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 23:38:34 ts/train.py:232 step:203K smpl:2M ep:6K 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23:47:55 ts/train.py:232 step:206K smpl:2M ep:6K epch:28.28 loss:0.008 grdn:0.228 lr:6.1e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 23:48:34 ts/train.py:232 step:206K smpl:2M ep:6K epch:28.31 loss:0.006 grdn:0.213 lr:6.1e-05 updt_s:0.186 data_s:0.007 +INFO 2025-05-03 23:49:11 ts/train.py:232 step:206K smpl:2M ep:6K epch:28.34 loss:0.006 grdn:0.206 lr:6.1e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 23:49:49 ts/train.py:232 step:206K smpl:2M ep:6K epch:28.36 loss:0.008 grdn:0.239 lr:6.1e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 23:50:26 ts/train.py:232 step:207K smpl:2M ep:6K epch:28.39 loss:0.007 grdn:0.211 lr:6.1e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 23:51:04 ts/train.py:232 step:207K smpl:2M ep:6K epch:28.42 loss:0.006 grdn:0.208 lr:6.1e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 23:51:41 ts/train.py:232 step:207K smpl:2M ep:6K epch:28.45 loss:0.007 grdn:0.220 lr:6.1e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-03 23:52:19 ts/train.py:232 step:207K smpl:2M ep:6K 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2025-05-04 07:11:32 ts/train.py:232 step:348K smpl:3M ep:10K epch:47.80 loss:0.004 grdn:0.213 lr:1.8e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:12:10 ts/train.py:232 step:348K smpl:3M ep:10K epch:47.82 loss:0.004 grdn:0.199 lr:1.8e-05 updt_s:0.186 data_s:0.005 +INFO 2025-05-04 07:12:48 ts/train.py:232 step:348K smpl:3M ep:10K epch:47.85 loss:0.004 grdn:0.204 lr:1.8e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:13:25 ts/train.py:232 step:348K smpl:3M ep:10K epch:47.88 loss:0.004 grdn:0.204 lr:1.7e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:14:02 ts/train.py:232 step:349K smpl:3M ep:10K epch:47.91 loss:0.004 grdn:0.223 lr:1.7e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:14:40 ts/train.py:232 step:349K smpl:3M ep:10K epch:47.93 loss:0.004 grdn:0.197 lr:1.7e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:15:17 ts/train.py:232 step:349K smpl:3M ep:10K epch:47.96 loss:0.004 grdn:0.218 lr:1.7e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:15:54 ts/train.py:232 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2025-05-04 07:47:42 ts/train.py:232 step:359K smpl:3M ep:10K epch:49.39 loss:0.003 grdn:0.177 lr:1.5e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:48:20 ts/train.py:232 step:360K smpl:3M ep:10K epch:49.42 loss:0.004 grdn:0.208 lr:1.5e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:48:57 ts/train.py:232 step:360K smpl:3M ep:10K epch:49.45 loss:0.004 grdn:0.194 lr:1.5e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:49:35 ts/train.py:232 step:360K smpl:3M ep:10K epch:49.47 loss:0.003 grdn:0.177 lr:1.5e-05 updt_s:0.187 data_s:0.000 +INFO 2025-05-04 07:49:35 ts/train.py:241 Checkpoint policy after step 360000 +INFO 2025-05-04 07:50:15 ts/train.py:232 step:360K smpl:3M ep:10K epch:49.50 loss:0.003 grdn:0.187 lr:1.5e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:50:52 ts/train.py:232 step:360K smpl:3M ep:10K epch:49.53 loss:0.003 grdn:0.167 lr:1.5e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:51:29 ts/train.py:232 step:361K smpl:3M ep:10K epch:49.56 loss:0.003 grdn:0.195 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+INFO 2025-05-04 07:56:28 ts/train.py:232 step:362K smpl:3M ep:10K epch:49.78 loss:0.004 grdn:0.215 lr:1.4e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:57:07 ts/train.py:232 step:362K smpl:3M ep:10K epch:49.80 loss:0.004 grdn:0.198 lr:1.4e-05 updt_s:0.186 data_s:0.005 +INFO 2025-05-04 07:57:44 ts/train.py:232 step:363K smpl:3M ep:10K epch:49.83 loss:0.004 grdn:0.196 lr:1.4e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:58:22 ts/train.py:232 step:363K smpl:3M ep:10K epch:49.86 loss:0.004 grdn:0.206 lr:1.4e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:58:59 ts/train.py:232 step:363K smpl:3M ep:10K epch:49.89 loss:0.004 grdn:0.206 lr:1.4e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 07:59:36 ts/train.py:232 step:363K smpl:3M ep:10K epch:49.91 loss:0.003 grdn:0.193 lr:1.4e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 08:00:14 ts/train.py:232 step:363K smpl:3M ep:10K epch:49.94 loss:0.003 grdn:0.180 lr:1.4e-05 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 08:00:51 ts/train.py:232 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step:416K smpl:3M ep:11K epch:57.14 loss:0.003 grdn:0.182 lr:4.4e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:44:15 ts/train.py:232 step:416K smpl:3M ep:11K epch:57.17 loss:0.003 grdn:0.179 lr:4.3e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:44:53 ts/train.py:232 step:416K smpl:3M ep:11K epch:57.20 loss:0.003 grdn:0.175 lr:4.3e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:45:30 ts/train.py:232 step:416K smpl:3M ep:11K epch:57.22 loss:0.003 grdn:0.194 lr:4.3e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:46:07 ts/train.py:232 step:417K smpl:3M ep:11K epch:57.25 loss:0.003 grdn:0.174 lr:4.3e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:46:45 ts/train.py:232 step:417K smpl:3M ep:11K epch:57.28 loss:0.004 grdn:0.205 lr:4.2e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:47:22 ts/train.py:232 step:417K smpl:3M ep:11K epch:57.31 loss:0.003 grdn:0.180 lr:4.2e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:48:00 ts/train.py:232 step:417K smpl:3M ep:11K epch:57.33 loss:0.003 grdn:0.195 lr:4.2e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:48:37 ts/train.py:232 step:417K smpl:3M ep:11K epch:57.36 loss:0.003 grdn:0.190 lr:4.2e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:49:14 ts/train.py:232 step:418K smpl:3M ep:11K epch:57.39 loss:0.003 grdn:0.194 lr:4.1e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:49:52 ts/train.py:232 step:418K smpl:3M ep:11K epch:57.42 loss:0.003 grdn:0.181 lr:4.1e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:50:29 ts/train.py:232 step:418K smpl:3M ep:11K epch:57.44 loss:0.003 grdn:0.179 lr:4.1e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:51:07 ts/train.py:232 step:418K smpl:3M ep:11K epch:57.47 loss:0.002 grdn:0.157 lr:4.1e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:51:44 ts/train.py:232 step:418K smpl:3M ep:11K epch:57.50 loss:0.002 grdn:0.174 lr:4.0e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:52:21 ts/train.py:232 step:419K smpl:3M ep:12K epch:57.53 loss:0.003 grdn:0.183 lr:4.0e-06 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2025-05-04 10:56:44 ts/train.py:241 Checkpoint policy after step 420000 +INFO 2025-05-04 10:57:24 ts/train.py:232 step:420K smpl:3M ep:12K epch:57.75 loss:0.003 grdn:0.184 lr:3.8e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:58:02 ts/train.py:232 step:420K smpl:3M ep:12K epch:57.77 loss:0.003 grdn:0.175 lr:3.8e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:58:39 ts/train.py:232 step:421K smpl:3M ep:12K epch:57.80 loss:0.003 grdn:0.179 lr:3.8e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:59:16 ts/train.py:232 step:421K smpl:3M ep:12K epch:57.83 loss:0.003 grdn:0.173 lr:3.7e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 10:59:54 ts/train.py:232 step:421K smpl:3M ep:12K epch:57.86 loss:0.003 grdn:0.194 lr:3.7e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:00:31 ts/train.py:232 step:421K smpl:3M ep:12K epch:57.88 loss:0.003 grdn:0.171 lr:3.7e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:01:08 ts/train.py:232 step:421K smpl:3M ep:12K epch:57.91 loss:0.002 grdn:0.158 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+INFO 2025-05-04 11:06:07 ts/train.py:232 step:423K smpl:3M ep:12K epch:58.13 loss:0.003 grdn:0.177 lr:3.5e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:06:44 ts/train.py:232 step:423K smpl:3M ep:12K epch:58.16 loss:0.002 grdn:0.165 lr:3.4e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:07:22 ts/train.py:232 step:423K smpl:3M ep:12K epch:58.19 loss:0.003 grdn:0.207 lr:3.4e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:07:59 ts/train.py:232 step:424K smpl:3M ep:12K epch:58.21 loss:0.003 grdn:0.197 lr:3.4e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:08:37 ts/train.py:232 step:424K smpl:3M ep:12K epch:58.24 loss:0.003 grdn:0.201 lr:3.4e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:09:14 ts/train.py:232 step:424K smpl:3M ep:12K epch:58.27 loss:0.003 grdn:0.205 lr:3.3e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:09:51 ts/train.py:232 step:424K smpl:3M ep:12K epch:58.30 loss:0.003 grdn:0.167 lr:3.3e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:10:29 ts/train.py:232 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loss:0.003 grdn:0.185 lr:3.1e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:15:28 ts/train.py:232 step:426K smpl:3M ep:12K epch:58.54 loss:0.003 grdn:0.200 lr:3.1e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:16:06 ts/train.py:232 step:426K smpl:3M ep:12K epch:58.57 loss:0.003 grdn:0.184 lr:3.1e-06 updt_s:0.186 data_s:0.008 +INFO 2025-05-04 11:16:44 ts/train.py:232 step:426K smpl:3M ep:12K epch:58.60 loss:0.003 grdn:0.176 lr:3.1e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:17:21 ts/train.py:232 step:427K smpl:3M ep:12K epch:58.63 loss:0.003 grdn:0.177 lr:3.0e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:17:59 ts/train.py:232 step:427K smpl:3M ep:12K epch:58.65 loss:0.003 grdn:0.175 lr:3.0e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:18:36 ts/train.py:232 step:427K smpl:3M ep:12K epch:58.68 loss:0.003 grdn:0.169 lr:3.0e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:19:14 ts/train.py:232 step:427K smpl:3M ep:12K epch:58.71 loss:0.003 grdn:0.180 lr:3.0e-06 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2025-05-04 11:24:13 ts/train.py:232 step:429K smpl:3M ep:12K epch:58.93 loss:0.002 grdn:0.161 lr:2.8e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:24:50 ts/train.py:232 step:429K smpl:3M ep:12K epch:58.96 loss:0.003 grdn:0.181 lr:2.8e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:25:28 ts/train.py:232 step:429K smpl:3M ep:12K epch:58.98 loss:0.002 grdn:0.160 lr:2.8e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:26:05 ts/train.py:232 step:429K smpl:3M ep:12K epch:59.01 loss:0.002 grdn:0.169 lr:2.7e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:26:42 ts/train.py:232 step:430K smpl:3M ep:12K epch:59.04 loss:0.003 grdn:0.182 lr:2.7e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:27:20 ts/train.py:232 step:430K smpl:3M ep:12K epch:59.07 loss:0.003 grdn:0.190 lr:2.7e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:27:57 ts/train.py:232 step:430K smpl:3M ep:12K epch:59.09 loss:0.003 grdn:0.185 lr:2.7e-06 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 11:28:34 ts/train.py:232 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2025-05-04 13:30:53 ts/train.py:232 step:469K smpl:4M ep:13K epch:64.51 loss:0.002 grdn:0.136 lr:1.2e-07 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 13:31:31 ts/train.py:232 step:470K smpl:4M ep:13K epch:64.54 loss:0.002 grdn:0.151 lr:1.2e-07 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 13:32:08 ts/train.py:232 step:470K smpl:4M ep:13K epch:64.56 loss:0.003 grdn:0.175 lr:1.1e-07 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 13:32:45 ts/train.py:232 step:470K smpl:4M ep:13K epch:64.59 loss:0.003 grdn:0.173 lr:1.1e-07 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 13:33:23 ts/train.py:232 step:470K smpl:4M ep:13K epch:64.62 loss:0.002 grdn:0.160 lr:1.1e-07 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 13:34:00 ts/train.py:232 step:470K smpl:4M ep:13K epch:64.65 loss:0.003 grdn:0.185 lr:1.0e-07 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 13:34:37 ts/train.py:232 step:471K smpl:4M ep:13K epch:64.67 loss:0.003 grdn:0.181 lr:9.7e-08 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 13:35:15 ts/train.py:232 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loss:0.002 grdn:0.166 lr:4.7e-09 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 13:58:19 ts/train.py:232 step:478K smpl:4M ep:13K epch:65.72 loss:0.003 grdn:0.187 lr:3.9e-09 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 13:58:56 ts/train.py:232 step:478K smpl:4M ep:13K epch:65.74 loss:0.002 grdn:0.149 lr:3.1e-09 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 13:59:34 ts/train.py:232 step:479K smpl:4M ep:13K epch:65.77 loss:0.002 grdn:0.165 lr:2.4e-09 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 14:00:11 ts/train.py:232 step:479K smpl:4M ep:13K epch:65.80 loss:0.002 grdn:0.175 lr:1.8e-09 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 14:00:48 ts/train.py:232 step:479K smpl:4M ep:13K epch:65.83 loss:0.003 grdn:0.167 lr:1.3e-09 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 14:01:26 ts/train.py:232 step:479K smpl:4M ep:13K epch:65.85 loss:0.003 grdn:0.187 lr:8.7e-10 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 14:02:03 ts/train.py:232 step:479K smpl:4M ep:13K epch:65.88 loss:0.002 grdn:0.161 lr:5.3e-10 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 14:02:40 ts/train.py:232 step:480K smpl:4M ep:13K epch:65.91 loss:0.002 grdn:0.168 lr:2.7e-10 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 14:03:18 ts/train.py:232 step:480K smpl:4M ep:13K epch:65.94 loss:0.003 grdn:0.180 lr:1.0e-10 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 14:03:55 ts/train.py:232 step:480K smpl:4M ep:13K epch:65.96 loss:0.003 grdn:0.167 lr:1.4e-11 updt_s:0.186 data_s:0.000 +INFO 2025-05-04 14:03:55 ts/train.py:241 Checkpoint policy after step 480000 +INFO 2025-05-04 14:03:58 ts/train.py:283 End of training diff --git a/DP_cube_downDims1_cropNo_freeze1_16_16_ema1_1e-4/wandb/run-20250503_130343-yd8ehjnc/files/requirements.txt b/DP_cube_downDims1_cropNo_freeze1_16_16_ema1_1e-4/wandb/run-20250503_130343-yd8ehjnc/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..8fc771efb7757d31b751b471861a827f2ce353fc --- /dev/null +++ b/DP_cube_downDims1_cropNo_freeze1_16_16_ema1_1e-4/wandb/run-20250503_130343-yd8ehjnc/files/requirements.txt @@ -0,0 +1,146 @@ +sympy==1.13.1 +torch==2.6.0 +nvidia-cuda-cupti-cu12==12.4.127 +gitdb==4.0.12 +nvidia-cusolver-cu12==11.6.1.9 +packaging==24.2 +numba==0.61.2 +safetensors==0.5.3 +nvidia-cusparselt-cu12==0.6.2 +pynput==1.8.1 +fsspec==2024.12.0 +filelock==3.18.0 +pydantic==2.11.3 +cloudpickle==3.1.1 +pillow==11.2.1 +lerobot==0.1.0 +inquirerpy==0.3.4 +charset-normalizer==3.4.1 +PySocks==1.7.1 +pycparser==2.22 +nvidia-cublas-cu12==12.4.5.8 +propcache==0.3.1 +GitPython==3.1.44 +llvmlite==0.44.0 +protobuf==5.29.4 +async-timeout==5.0.1 +draccus==0.10.0 +soupsieve==2.6 +Werkzeug==3.1.3 +nvidia-cuda-nvrtc-cu12==12.4.127 +av==14.3.0 +huggingface-hub==0.30.2 +jsonlines==4.0.0 +setproctitle==1.3.5 +imageio==2.37.0 +aiohttp==3.11.16 +einops==0.8.1 +imageio-ffmpeg==0.6.0 +pytz==2025.2 +pymunk==6.11.1 +typing-inspect==0.9.0 +PyYAML==6.0.2 +cffi==1.17.1 +feetech-servo-sdk==1.0.0 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