File size: 59,394 Bytes
d7fee0a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 | [2026-03-23 20:58:58,654][__main__][INFO] - Configuration:
policy:
name: acp
_target_: force_il.policies.acp.ACPPolicy
action_dim: 19
pred_horizon: 16
obs_horizon: 2
action_horizon: 16
vision_encoder_name: vit_base_patch32_clip_224.openai
vision_pretrained: true
vision_output_dim: 768
wrench_encoding: causalconv
wrench_window_size: 256
wrench_freq: 5000.0
wrench_output_dim: 384
fuse_mode: modality-attention
obs_num_rgb_frames: 2
include_low_dim: true
low_dim_eef_pos_horizon: 3
low_dim_eef_pos_dim: 3
low_dim_eef_rot_horizon: 3
low_dim_eef_rot_dim: 6
num_diffusion_steps: 50
noise_scheduler: ddim
unet_down_dims:
- 256
- 512
- 1024
diffusion_step_embed_dim: 32
unet_kernel_size: 5
unet_n_groups: 8
cond_predict_scale: true
input_perturbation: 0.1
unified_action: true
unified_action_dim: 19
pose_dim: 9
vt_dim: 9
stiffness_dim: 1
predict_virtual_target: false
predict_stiffness: false
default_stiffness: 100.0
num_inference_steps: 16
task:
name: flip_up
dataset_path: data/flip_up_230/flip_up_new_v5
action_dim: 19
obs_horizon: 2
eef_obs_horizon: 3
eef_down_sample_steps: 5
pred_horizon: 16
action_horizon: 16
action_down_sample_steps: 50
wrench_horizon: 32
wrench_down_sample_steps: 4
query_down_sample_steps: 8
image_size: 224
val_ratio: 0.05
data:
_target_: force_il.data.acp_dataset.ACPEpisodeDataset
dataset_path: data/flip-20e_acp
pred_horizon: 16
obs_horizon: 2
rgb_down_sample_steps: 10
eef_obs_horizon: 3
eef_down_sample_steps: 5
action_down_sample_steps: 50
wrench_horizon: 32
wrench_down_sample_steps: 4
query_down_sample_steps: 8
image_size: 224
val_ratio: 0.05
seed: 42
is_val: false
relative_actions: true
train:
epochs: 300
batch_size: 128
gradient_accumulation: 1
optimizer:
_target_: torch.optim.AdamW
lr: 0.0003
weight_decay: 1.0e-06
betas:
- 0.95
- 0.999
scheduler:
type: cosine
warmup_steps: 2000
min_lr: 1.0e-06
encoder_lr_scale: 0.1
mixed_precision: fp16
use_ema: true
ema_decay: 0.9999
ema_power: 0.75
ema_update_after_step: 0
log_interval: 50
use_wandb: true
wandb_project: force_il
wandb_name: null
val_every: 5
sample_every: 5
val_interval: 500
checkpoint_interval: 10
save_best: true
best_checkpoint_monitor: train_loss
num_workers: 8
pin_memory: true
prefetch_factor: 2
normalizer_use_full_dataset: false
upload_to_hf: true
hf_repo_id: tangPR/acp-flip-up
hf_upload_interval: 100
seed: 42
experiment_name: acp_flip_up
seed: 42
validate:
checkpoint: null
num_samples: 5
output_dir: ./validation_plots
use_train_split: false
output_dir: outputs/2026-03-23/acp_flip_up_205858
checkpoint_dir: outputs/2026-03-23/acp_flip_up_205858/checkpoints
log_dir: outputs/2026-03-23/acp_flip_up_205858/logs
[2026-03-23 20:58:58,814][__main__][INFO] - Building dataset...
[2026-03-23 20:58:59,158][force_il.data.acp_dataset][INFO] - Loaded 24 episodes from data/flip-20e_acp/data
[2026-03-23 20:58:59,158][force_il.data.acp_dataset][INFO] - ACPEpisodeDataset: 23 episodes, 1360 samples (train)
[2026-03-23 20:58:59,162][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_aec already registered
[2026-03-23 20:58:59,162][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_apng already registered
[2026-03-23 20:58:59,163][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_avif already registered
[2026-03-23 20:58:59,164][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_bfloat16 already registered
[2026-03-23 20:58:59,164][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_bitorder already registered
[2026-03-23 20:58:59,164][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_bitshuffle already registered
[2026-03-23 20:58:59,164][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_blosc already registered
[2026-03-23 20:58:59,165][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_blosc2 already registered
[2026-03-23 20:58:59,166][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_bmp already registered
[2026-03-23 20:58:59,167][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_brotli already registered
[2026-03-23 20:58:59,167][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_byteshuffle already registered
[2026-03-23 20:58:59,167][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_bz2 already registered
[2026-03-23 20:58:59,167][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_ccittfax3 already registered
[2026-03-23 20:58:59,167][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_ccittfax4 already registered
[2026-03-23 20:58:59,167][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_ccittrle already registered
[2026-03-23 20:58:59,167][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_checksum already registered
[2026-03-23 20:58:59,168][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_cms already registered
[2026-03-23 20:58:59,168][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_dds already registered
[2026-03-23 20:58:59,169][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_deflate already registered
[2026-03-23 20:58:59,169][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_delta already registered
[2026-03-23 20:58:59,169][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_dicomrle already registered
[2026-03-23 20:58:59,169][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_eer already registered
[2026-03-23 20:58:59,169][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_float24 already registered
[2026-03-23 20:58:59,169][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_floatpred already registered
[2026-03-23 20:58:59,169][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_gif already registered
[2026-03-23 20:58:59,170][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_htj2k already registered
[2026-03-23 20:58:59,170][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_jetraw already registered
[2026-03-23 20:58:59,170][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_jpeg already registered
[2026-03-23 20:58:59,170][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_jpeg2k already registered
[2026-03-23 20:58:59,170][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_jpegls already registered
[2026-03-23 20:58:59,171][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_jpegxl already registered
[2026-03-23 20:58:59,172][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_jpegxr already registered
[2026-03-23 20:58:59,172][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_lerc already registered
[2026-03-23 20:58:59,172][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_ljpeg already registered
[2026-03-23 20:58:59,173][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_lz4 already registered
[2026-03-23 20:58:59,173][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_lz4f already registered
[2026-03-23 20:58:59,173][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_lz4h5 already registered
[2026-03-23 20:58:59,173][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_lzf already registered
[2026-03-23 20:58:59,173][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_lzfse already registered
[2026-03-23 20:58:59,174][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_lzham already registered
[2026-03-23 20:58:59,174][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_lzma already registered
[2026-03-23 20:58:59,174][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_lzo already registered
[2026-03-23 20:58:59,174][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_lzw already registered
[2026-03-23 20:58:59,174][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_meshopt already registered
[2026-03-23 20:58:59,174][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_packbits already registered
[2026-03-23 20:58:59,174][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_packints already registered
[2026-03-23 20:58:59,174][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_pcodec already registered
[2026-03-23 20:58:59,175][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_pglz already registered
[2026-03-23 20:58:59,175][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_pixarlog already registered
[2026-03-23 20:58:59,175][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_png already registered
[2026-03-23 20:58:59,175][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_qoi already registered
[2026-03-23 20:58:59,175][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_quantize already registered
[2026-03-23 20:58:59,175][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_rcomp already registered
[2026-03-23 20:58:59,175][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_snappy already registered
[2026-03-23 20:58:59,175][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_sperr already registered
[2026-03-23 20:58:59,176][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_spng already registered
[2026-03-23 20:58:59,176][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_sz3 already registered
[2026-03-23 20:58:59,176][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_szip already registered
[2026-03-23 20:58:59,177][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_tiff already registered
[2026-03-23 20:58:59,178][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_ultrahdr already registered
[2026-03-23 20:58:59,178][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_webp already registered
[2026-03-23 20:58:59,178][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_xor already registered
[2026-03-23 20:58:59,179][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_zfp already registered
[2026-03-23 20:58:59,179][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_zlib already registered
[2026-03-23 20:58:59,179][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_zlibng already registered
[2026-03-23 20:58:59,179][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_zopfli already registered
[2026-03-23 20:58:59,179][imagecodecs.numcodecs][WARNING] - numcodec imagecodecs_zstd already registered
[2026-03-23 20:58:59,437][force_il.data.acp_dataset][INFO] - Loaded 24 episodes from data/flip-20e_acp/data
[2026-03-23 20:58:59,439][force_il.data.acp_dataset][INFO] - ACPEpisodeDataset: 1 episodes, 68 samples (val)
[2026-03-23 20:58:59,439][__main__][INFO] - Train samples: 1360, Val samples: 68
[2026-03-23 20:58:59,439][__main__][INFO] - Computing normalization statistics from training split...
[2026-03-23 20:58:59,439][force_il.data.acp_dataset][INFO] - Computing normalizer from dataset...
[2026-03-23 20:58:59,491][force_il.data.acp_dataset][INFO] - Normalizer fitted.
[2026-03-23 20:58:59,494][__main__][INFO] - Saved normalizer to outputs/2026-03-23/acp_flip_up_205858/checkpoints/normalizer.pt
[2026-03-23 20:58:59,687][force_il.training.hf_upload][INFO] - HF repo ready: https://huggingface.co/tangPR/acp-flip-up
[2026-03-23 20:59:01,210][force_il.training.hf_upload][INFO] - Uploaded config to HF
[2026-03-23 20:59:03,193][huggingface_hub.hf_api][WARNING] - No files have been modified since last commit. Skipping to prevent empty commit.
[2026-03-23 20:59:03,311][force_il.training.hf_upload][INFO] - Uploaded normalizer.pt to HF
[2026-03-23 20:59:03,311][__main__][INFO] - HF upload enabled → tangPR/acp-flip-up
[2026-03-23 20:59:03,311][__main__][INFO] - Building policy...
[2026-03-23 20:59:04,384][timm.models._builder][INFO] - Loading pretrained weights from Hugging Face hub (timm/vit_base_patch32_clip_224.openai)
[2026-03-23 20:59:05,377][__main__][INFO] - Policy: acp
[2026-03-23 20:59:05,377][__main__][INFO] - Trainable parameters: 170,491,491
[2026-03-23 20:59:05,378][__main__][INFO] - Encoder LR scale: 0.1
[2026-03-23 20:59:05,378][__main__][INFO] - Scheduler: cosine with 2000 warmup steps, 3000 total steps
[2026-03-23 20:59:05,555][__main__][INFO] - EMA enabled with decay=0.9999
[2026-03-23 20:59:05,555][__main__][INFO] - Starting training...
[2026-03-23 20:59:11,372][force_il.training.trainer][INFO] - Epoch 0: train_loss=1.1360
[2026-03-23 20:59:15,170][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 20:59:19,061][force_il.training.trainer][INFO] - Epoch 1: train_loss=1.0557
[2026-03-23 20:59:20,854][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 20:59:24,754][force_il.training.trainer][INFO] - Epoch 2: train_loss=1.0280
[2026-03-23 20:59:26,777][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 20:59:30,618][force_il.training.trainer][INFO] - Epoch 3: train_loss=1.0044
[2026-03-23 20:59:32,386][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 20:59:36,353][force_il.training.trainer][INFO] - Epoch 4: train_loss=0.9865
[2026-03-23 20:59:38,520][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 20:59:42,425][force_il.training.trainer][INFO] - Epoch 5: train_loss=0.9795
[2026-03-23 20:59:46,957][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 20:59:50,847][force_il.training.trainer][INFO] - Epoch 6: train_loss=0.9653
[2026-03-23 20:59:52,716][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 20:59:56,669][force_il.training.trainer][INFO] - Epoch 7: train_loss=0.9413
[2026-03-23 20:59:58,617][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:00:02,511][force_il.training.trainer][INFO] - Epoch 8: train_loss=0.8907
[2026-03-23 21:00:04,345][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:00:08,131][force_il.training.trainer][INFO] - Epoch 9: train_loss=0.8334
[2026-03-23 21:00:10,161][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:00:11,835][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0009.pt
[2026-03-23 21:00:15,733][force_il.training.trainer][INFO] - Epoch 10: train_loss=0.7563
[2026-03-23 21:00:20,207][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:00:24,080][force_il.training.trainer][INFO] - Epoch 11: train_loss=0.6758
[2026-03-23 21:00:25,763][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:00:29,652][force_il.training.trainer][INFO] - Epoch 12: train_loss=0.5963
[2026-03-23 21:00:31,773][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:00:35,702][force_il.training.trainer][INFO] - Epoch 13: train_loss=0.5352
[2026-03-23 21:00:37,336][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:00:41,161][force_il.training.trainer][INFO] - Epoch 14: train_loss=0.4769
[2026-03-23 21:00:43,041][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:00:46,880][force_il.training.trainer][INFO] - Epoch 15: train_loss=0.4228
[2026-03-23 21:00:51,064][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:00:54,899][force_il.training.trainer][INFO] - Epoch 16: train_loss=0.3748
[2026-03-23 21:00:56,777][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:01:00,712][force_il.training.trainer][INFO] - Epoch 17: train_loss=0.3390
[2026-03-23 21:01:02,578][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:01:06,362][force_il.training.trainer][INFO] - Epoch 18: train_loss=0.3025
[2026-03-23 21:01:08,059][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:01:11,951][force_il.training.trainer][INFO] - Epoch 19: train_loss=0.2787
[2026-03-23 21:01:13,815][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:01:15,214][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0019.pt
[2026-03-23 21:01:19,100][force_il.training.trainer][INFO] - Epoch 20: train_loss=0.2531
[2026-03-23 21:01:23,323][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:01:27,251][force_il.training.trainer][INFO] - Epoch 21: train_loss=0.2329
[2026-03-23 21:01:29,000][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:01:32,877][force_il.training.trainer][INFO] - Epoch 22: train_loss=0.2098
[2026-03-23 21:01:34,766][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:01:38,614][force_il.training.trainer][INFO] - Epoch 23: train_loss=0.1970
[2026-03-23 21:01:40,437][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:01:44,360][force_il.training.trainer][INFO] - Epoch 24: train_loss=0.1834
[2026-03-23 21:01:46,451][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:01:50,493][force_il.training.trainer][INFO] - Epoch 25: train_loss=0.1773
[2026-03-23 21:01:54,724][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:01:58,627][force_il.training.trainer][INFO] - Epoch 26: train_loss=0.1597
[2026-03-23 21:02:00,465][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:02:04,310][force_il.training.trainer][INFO] - Epoch 27: train_loss=0.1515
[2026-03-23 21:02:06,196][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:02:10,102][force_il.training.trainer][INFO] - Epoch 28: train_loss=0.1487
[2026-03-23 21:02:12,106][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:02:16,058][force_il.training.trainer][INFO] - Epoch 29: train_loss=0.1388
[2026-03-23 21:02:18,144][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:02:19,662][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0029.pt
[2026-03-23 21:02:23,673][force_il.training.trainer][INFO] - Epoch 30: train_loss=0.1388
[2026-03-23 21:02:28,172][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:02:32,125][force_il.training.trainer][INFO] - Epoch 31: train_loss=0.1344
[2026-03-23 21:02:34,143][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:02:38,037][force_il.training.trainer][INFO] - Epoch 32: train_loss=0.1277
[2026-03-23 21:02:40,059][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:02:43,910][force_il.training.trainer][INFO] - Epoch 33: train_loss=0.1293
[2026-03-23 21:02:47,821][force_il.training.trainer][INFO] - Epoch 34: train_loss=0.1217
[2026-03-23 21:02:49,678][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:02:53,546][force_il.training.trainer][INFO] - Epoch 35: train_loss=0.1121
[2026-03-23 21:02:57,683][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:03:01,589][force_il.training.trainer][INFO] - Epoch 36: train_loss=0.1077
[2026-03-23 21:03:03,496][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:03:07,324][force_il.training.trainer][INFO] - Epoch 37: train_loss=0.1046
[2026-03-23 21:03:09,171][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:03:13,011][force_il.training.trainer][INFO] - Epoch 38: train_loss=0.1015
[2026-03-23 21:03:14,985][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:03:18,873][force_il.training.trainer][INFO] - Epoch 39: train_loss=0.0978
[2026-03-23 21:03:20,927][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:03:22,519][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0039.pt
[2026-03-23 21:03:26,446][force_il.training.trainer][INFO] - Epoch 40: train_loss=0.0979
[2026-03-23 21:03:32,604][force_il.training.trainer][INFO] - Epoch 41: train_loss=0.0934
[2026-03-23 21:03:34,672][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:03:38,534][force_il.training.trainer][INFO] - Epoch 42: train_loss=0.0934
[2026-03-23 21:03:40,524][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:03:44,432][force_il.training.trainer][INFO] - Epoch 43: train_loss=0.0908
[2026-03-23 21:03:46,292][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:03:50,223][force_il.training.trainer][INFO] - Epoch 44: train_loss=0.0897
[2026-03-23 21:03:52,283][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:03:56,202][force_il.training.trainer][INFO] - Epoch 45: train_loss=0.0902
[2026-03-23 21:04:02,484][force_il.training.trainer][INFO] - Epoch 46: train_loss=0.0847
[2026-03-23 21:04:04,361][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:04:08,317][force_il.training.trainer][INFO] - Epoch 47: train_loss=0.0819
[2026-03-23 21:04:10,204][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:04:14,031][force_il.training.trainer][INFO] - Epoch 48: train_loss=0.0817
[2026-03-23 21:04:16,082][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:04:19,913][force_il.training.trainer][INFO] - Epoch 49: train_loss=0.0762
[2026-03-23 21:04:21,858][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:04:23,457][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0049.pt
[2026-03-23 21:04:27,978][force_il.training.trainer][INFO] - Epoch 50: train_loss=0.0809
[2026-03-23 21:04:34,259][force_il.training.trainer][INFO] - Epoch 51: train_loss=0.0814
[2026-03-23 21:04:38,157][force_il.training.trainer][INFO] - Epoch 52: train_loss=0.0800
[2026-03-23 21:04:42,072][force_il.training.trainer][INFO] - Epoch 53: train_loss=0.0714
[2026-03-23 21:04:44,115][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:04:48,042][force_il.training.trainer][INFO] - Epoch 54: train_loss=0.0705
[2026-03-23 21:04:49,801][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:04:53,643][force_il.training.trainer][INFO] - Epoch 55: train_loss=0.0714
[2026-03-23 21:04:59,781][force_il.training.trainer][INFO] - Epoch 56: train_loss=0.0715
[2026-03-23 21:05:03,652][force_il.training.trainer][INFO] - Epoch 57: train_loss=0.0682
[2026-03-23 21:05:05,757][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:05:09,596][force_il.training.trainer][INFO] - Epoch 58: train_loss=0.0683
[2026-03-23 21:05:13,376][force_il.training.trainer][INFO] - Epoch 59: train_loss=0.0751
[2026-03-23 21:05:14,818][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0059.pt
[2026-03-23 21:05:18,693][force_il.training.trainer][INFO] - Epoch 60: train_loss=0.0721
[2026-03-23 21:05:24,899][force_il.training.trainer][INFO] - Epoch 61: train_loss=0.0695
[2026-03-23 21:05:28,770][force_il.training.trainer][INFO] - Epoch 62: train_loss=0.0735
[2026-03-23 21:05:32,690][force_il.training.trainer][INFO] - Epoch 63: train_loss=0.0641
[2026-03-23 21:05:34,538][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:05:38,433][force_il.training.trainer][INFO] - Epoch 64: train_loss=0.0639
[2026-03-23 21:05:40,400][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:05:44,360][force_il.training.trainer][INFO] - Epoch 65: train_loss=0.0667
[2026-03-23 21:05:50,728][force_il.training.trainer][INFO] - Epoch 66: train_loss=0.0644
[2026-03-23 21:05:54,594][force_il.training.trainer][INFO] - Epoch 67: train_loss=0.0576
[2026-03-23 21:05:56,501][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:06:00,406][force_il.training.trainer][INFO] - Epoch 68: train_loss=0.0583
[2026-03-23 21:06:04,317][force_il.training.trainer][INFO] - Epoch 69: train_loss=0.0592
[2026-03-23 21:06:05,716][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0069.pt
[2026-03-23 21:06:09,621][force_il.training.trainer][INFO] - Epoch 70: train_loss=0.0610
[2026-03-23 21:06:15,870][force_il.training.trainer][INFO] - Epoch 71: train_loss=0.0539
[2026-03-23 21:06:18,010][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:06:21,939][force_il.training.trainer][INFO] - Epoch 72: train_loss=0.0563
[2026-03-23 21:06:25,873][force_il.training.trainer][INFO] - Epoch 73: train_loss=0.0551
[2026-03-23 21:06:29,793][force_il.training.trainer][INFO] - Epoch 74: train_loss=0.0564
[2026-03-23 21:06:33,709][force_il.training.trainer][INFO] - Epoch 75: train_loss=0.0582
[2026-03-23 21:06:40,006][force_il.training.trainer][INFO] - Epoch 76: train_loss=0.0570
[2026-03-23 21:06:43,927][force_il.training.trainer][INFO] - Epoch 77: train_loss=0.0529
[2026-03-23 21:06:46,212][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:06:50,086][force_il.training.trainer][INFO] - Epoch 78: train_loss=0.0515
[2026-03-23 21:06:51,817][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:06:55,730][force_il.training.trainer][INFO] - Epoch 79: train_loss=0.0516
[2026-03-23 21:06:57,103][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0079.pt
[2026-03-23 21:07:00,935][force_il.training.trainer][INFO] - Epoch 80: train_loss=0.0520
[2026-03-23 21:07:07,162][force_il.training.trainer][INFO] - Epoch 81: train_loss=0.0509
[2026-03-23 21:07:09,020][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:07:12,943][force_il.training.trainer][INFO] - Epoch 82: train_loss=0.0474
[2026-03-23 21:07:15,257][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:07:19,131][force_il.training.trainer][INFO] - Epoch 83: train_loss=0.0483
[2026-03-23 21:07:23,096][force_il.training.trainer][INFO] - Epoch 84: train_loss=0.0474
[2026-03-23 21:07:25,209][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:07:29,045][force_il.training.trainer][INFO] - Epoch 85: train_loss=0.0472
[2026-03-23 21:07:33,384][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:07:37,248][force_il.training.trainer][INFO] - Epoch 86: train_loss=0.0454
[2026-03-23 21:07:38,889][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:07:42,761][force_il.training.trainer][INFO] - Epoch 87: train_loss=0.0449
[2026-03-23 21:07:44,612][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:07:48,517][force_il.training.trainer][INFO] - Epoch 88: train_loss=0.0435
[2026-03-23 21:07:50,146][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:07:54,042][force_il.training.trainer][INFO] - Epoch 89: train_loss=0.0465
[2026-03-23 21:07:55,383][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0089.pt
[2026-03-23 21:07:59,289][force_il.training.trainer][INFO] - Epoch 90: train_loss=0.0417
[2026-03-23 21:08:03,495][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:08:07,339][force_il.training.trainer][INFO] - Epoch 91: train_loss=0.0444
[2026-03-23 21:08:11,261][force_il.training.trainer][INFO] - Epoch 92: train_loss=0.0420
[2026-03-23 21:08:15,154][force_il.training.trainer][INFO] - Epoch 93: train_loss=0.0428
[2026-03-23 21:08:19,008][force_il.training.trainer][INFO] - Epoch 94: train_loss=0.0457
[2026-03-23 21:08:22,856][force_il.training.trainer][INFO] - Epoch 95: train_loss=0.0444
[2026-03-23 21:08:29,035][force_il.training.trainer][INFO] - Epoch 96: train_loss=0.0459
[2026-03-23 21:08:32,950][force_il.training.trainer][INFO] - Epoch 97: train_loss=0.0424
[2026-03-23 21:08:36,875][force_il.training.trainer][INFO] - Epoch 98: train_loss=0.0437
[2026-03-23 21:08:40,787][force_il.training.trainer][INFO] - Epoch 99: train_loss=0.0451
[2026-03-23 21:08:42,171][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0099.pt
[2026-03-23 21:12:41,195][force_il.training.hf_upload][INFO] - Uploaded best.pt to HF
[2026-03-23 21:12:41,196][force_il.training.trainer][INFO] - Uploaded best.pt to HF (epoch 99)
[2026-03-23 21:12:45,693][force_il.training.trainer][INFO] - Epoch 100: train_loss=0.0460
[2026-03-23 21:12:51,920][force_il.training.trainer][INFO] - Epoch 101: train_loss=0.0438
[2026-03-23 21:12:55,790][force_il.training.trainer][INFO] - Epoch 102: train_loss=0.0430
[2026-03-23 21:12:59,706][force_il.training.trainer][INFO] - Epoch 103: train_loss=0.0407
[2026-03-23 21:13:01,598][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:13:05,518][force_il.training.trainer][INFO] - Epoch 104: train_loss=0.0416
[2026-03-23 21:13:09,415][force_il.training.trainer][INFO] - Epoch 105: train_loss=0.0434
[2026-03-23 21:13:15,645][force_il.training.trainer][INFO] - Epoch 106: train_loss=0.0418
[2026-03-23 21:13:19,490][force_il.training.trainer][INFO] - Epoch 107: train_loss=0.0387
[2026-03-23 21:13:21,367][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:13:25,297][force_il.training.trainer][INFO] - Epoch 108: train_loss=0.0398
[2026-03-23 21:13:29,221][force_il.training.trainer][INFO] - Epoch 109: train_loss=0.0398
[2026-03-23 21:13:30,576][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0109.pt
[2026-03-23 21:13:34,466][force_il.training.trainer][INFO] - Epoch 110: train_loss=0.0399
[2026-03-23 21:13:40,783][force_il.training.trainer][INFO] - Epoch 111: train_loss=0.0391
[2026-03-23 21:13:44,703][force_il.training.trainer][INFO] - Epoch 112: train_loss=0.0378
[2026-03-23 21:13:46,554][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:13:50,419][force_il.training.trainer][INFO] - Epoch 113: train_loss=0.0383
[2026-03-23 21:13:54,293][force_il.training.trainer][INFO] - Epoch 114: train_loss=0.0361
[2026-03-23 21:13:56,144][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:14:00,026][force_il.training.trainer][INFO] - Epoch 115: train_loss=0.0375
[2026-03-23 21:14:06,236][force_il.training.trainer][INFO] - Epoch 116: train_loss=0.0375
[2026-03-23 21:14:10,107][force_il.training.trainer][INFO] - Epoch 117: train_loss=0.0354
[2026-03-23 21:14:11,835][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:14:15,701][force_il.training.trainer][INFO] - Epoch 118: train_loss=0.0365
[2026-03-23 21:14:19,602][force_il.training.trainer][INFO] - Epoch 119: train_loss=0.0367
[2026-03-23 21:14:20,996][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0119.pt
[2026-03-23 21:14:24,943][force_il.training.trainer][INFO] - Epoch 120: train_loss=0.0367
[2026-03-23 21:14:31,151][force_il.training.trainer][INFO] - Epoch 121: train_loss=0.0352
[2026-03-23 21:14:33,040][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:14:36,959][force_il.training.trainer][INFO] - Epoch 122: train_loss=0.0343
[2026-03-23 21:14:38,644][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:14:42,575][force_il.training.trainer][INFO] - Epoch 123: train_loss=0.0348
[2026-03-23 21:14:46,488][force_il.training.trainer][INFO] - Epoch 124: train_loss=0.0341
[2026-03-23 21:14:48,370][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:14:52,235][force_il.training.trainer][INFO] - Epoch 125: train_loss=0.0333
[2026-03-23 21:14:56,430][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:15:00,351][force_il.training.trainer][INFO] - Epoch 126: train_loss=0.0340
[2026-03-23 21:15:04,266][force_il.training.trainer][INFO] - Epoch 127: train_loss=0.0365
[2026-03-23 21:15:08,185][force_il.training.trainer][INFO] - Epoch 128: train_loss=0.0340
[2026-03-23 21:15:12,085][force_il.training.trainer][INFO] - Epoch 129: train_loss=0.0338
[2026-03-23 21:15:13,467][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0129.pt
[2026-03-23 21:15:17,335][force_il.training.trainer][INFO] - Epoch 130: train_loss=0.0355
[2026-03-23 21:15:23,579][force_il.training.trainer][INFO] - Epoch 131: train_loss=0.0345
[2026-03-23 21:15:27,485][force_il.training.trainer][INFO] - Epoch 132: train_loss=0.0374
[2026-03-23 21:15:31,417][force_il.training.trainer][INFO] - Epoch 133: train_loss=0.0383
[2026-03-23 21:15:35,320][force_il.training.trainer][INFO] - Epoch 134: train_loss=0.0357
[2026-03-23 21:15:39,187][force_il.training.trainer][INFO] - Epoch 135: train_loss=0.0352
[2026-03-23 21:15:45,483][force_il.training.trainer][INFO] - Epoch 136: train_loss=0.0352
[2026-03-23 21:15:49,384][force_il.training.trainer][INFO] - Epoch 137: train_loss=0.0355
[2026-03-23 21:15:53,322][force_il.training.trainer][INFO] - Epoch 138: train_loss=0.0346
[2026-03-23 21:15:57,154][force_il.training.trainer][INFO] - Epoch 139: train_loss=0.0328
[2026-03-23 21:15:59,044][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:16:00,486][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0139.pt
[2026-03-23 21:16:04,430][force_il.training.trainer][INFO] - Epoch 140: train_loss=0.0340
[2026-03-23 21:16:10,592][force_il.training.trainer][INFO] - Epoch 141: train_loss=0.0316
[2026-03-23 21:16:12,481][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:16:16,343][force_il.training.trainer][INFO] - Epoch 142: train_loss=0.0327
[2026-03-23 21:16:20,265][force_il.training.trainer][INFO] - Epoch 143: train_loss=0.0305
[2026-03-23 21:16:22,113][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:16:25,932][force_il.training.trainer][INFO] - Epoch 144: train_loss=0.0323
[2026-03-23 21:16:29,835][force_il.training.trainer][INFO] - Epoch 145: train_loss=0.0330
[2026-03-23 21:16:36,064][force_il.training.trainer][INFO] - Epoch 146: train_loss=0.0319
[2026-03-23 21:16:39,905][force_il.training.trainer][INFO] - Epoch 147: train_loss=0.0334
[2026-03-23 21:16:43,777][force_il.training.trainer][INFO] - Epoch 148: train_loss=0.0337
[2026-03-23 21:16:47,699][force_il.training.trainer][INFO] - Epoch 149: train_loss=0.0314
[2026-03-23 21:16:49,075][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0149.pt
[2026-03-23 21:16:53,484][force_il.training.trainer][INFO] - Epoch 150: train_loss=0.0307
[2026-03-23 21:16:59,592][force_il.training.trainer][INFO] - Epoch 151: train_loss=0.0323
[2026-03-23 21:17:03,508][force_il.training.trainer][INFO] - Epoch 152: train_loss=0.0301
[2026-03-23 21:17:05,330][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:17:09,230][force_il.training.trainer][INFO] - Epoch 153: train_loss=0.0314
[2026-03-23 21:17:13,166][force_il.training.trainer][INFO] - Epoch 154: train_loss=0.0303
[2026-03-23 21:17:17,067][force_il.training.trainer][INFO] - Epoch 155: train_loss=0.0303
[2026-03-23 21:17:23,440][force_il.training.trainer][INFO] - Epoch 156: train_loss=0.0301
[2026-03-23 21:17:27,308][force_il.training.trainer][INFO] - Epoch 157: train_loss=0.0295
[2026-03-23 21:17:29,191][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:17:33,045][force_il.training.trainer][INFO] - Epoch 158: train_loss=0.0293
[2026-03-23 21:17:34,751][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:17:38,616][force_il.training.trainer][INFO] - Epoch 159: train_loss=0.0296
[2026-03-23 21:17:40,000][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0159.pt
[2026-03-23 21:17:43,956][force_il.training.trainer][INFO] - Epoch 160: train_loss=0.0295
[2026-03-23 21:17:50,237][force_il.training.trainer][INFO] - Epoch 161: train_loss=0.0290
[2026-03-23 21:17:52,091][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:17:56,044][force_il.training.trainer][INFO] - Epoch 162: train_loss=0.0310
[2026-03-23 21:17:59,913][force_il.training.trainer][INFO] - Epoch 163: train_loss=0.0318
[2026-03-23 21:18:03,882][force_il.training.trainer][INFO] - Epoch 164: train_loss=0.0323
[2026-03-23 21:18:07,820][force_il.training.trainer][INFO] - Epoch 165: train_loss=0.0303
[2026-03-23 21:18:14,048][force_il.training.trainer][INFO] - Epoch 166: train_loss=0.0298
[2026-03-23 21:18:17,900][force_il.training.trainer][INFO] - Epoch 167: train_loss=0.0277
[2026-03-23 21:18:19,786][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:18:23,705][force_il.training.trainer][INFO] - Epoch 168: train_loss=0.0276
[2026-03-23 21:18:25,521][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:18:29,352][force_il.training.trainer][INFO] - Epoch 169: train_loss=0.0278
[2026-03-23 21:18:30,774][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0169.pt
[2026-03-23 21:18:34,623][force_il.training.trainer][INFO] - Epoch 170: train_loss=0.0282
[2026-03-23 21:18:40,761][force_il.training.trainer][INFO] - Epoch 171: train_loss=0.0283
[2026-03-23 21:18:44,632][force_il.training.trainer][INFO] - Epoch 172: train_loss=0.0305
[2026-03-23 21:18:48,477][force_il.training.trainer][INFO] - Epoch 173: train_loss=0.0296
[2026-03-23 21:18:52,376][force_il.training.trainer][INFO] - Epoch 174: train_loss=0.0300
[2026-03-23 21:18:56,297][force_il.training.trainer][INFO] - Epoch 175: train_loss=0.0282
[2026-03-23 21:19:02,548][force_il.training.trainer][INFO] - Epoch 176: train_loss=0.0269
[2026-03-23 21:19:04,418][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:19:08,354][force_il.training.trainer][INFO] - Epoch 177: train_loss=0.0285
[2026-03-23 21:19:12,269][force_il.training.trainer][INFO] - Epoch 178: train_loss=0.0290
[2026-03-23 21:19:16,194][force_il.training.trainer][INFO] - Epoch 179: train_loss=0.0279
[2026-03-23 21:19:17,622][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0179.pt
[2026-03-23 21:19:21,581][force_il.training.trainer][INFO] - Epoch 180: train_loss=0.0299
[2026-03-23 21:19:27,874][force_il.training.trainer][INFO] - Epoch 181: train_loss=0.0272
[2026-03-23 21:19:31,707][force_il.training.trainer][INFO] - Epoch 182: train_loss=0.0271
[2026-03-23 21:19:35,646][force_il.training.trainer][INFO] - Epoch 183: train_loss=0.0276
[2026-03-23 21:19:39,609][force_il.training.trainer][INFO] - Epoch 184: train_loss=0.0279
[2026-03-23 21:19:43,480][force_il.training.trainer][INFO] - Epoch 185: train_loss=0.0284
[2026-03-23 21:19:49,778][force_il.training.trainer][INFO] - Epoch 186: train_loss=0.0275
[2026-03-23 21:19:53,680][force_il.training.trainer][INFO] - Epoch 187: train_loss=0.0270
[2026-03-23 21:19:57,524][force_il.training.trainer][INFO] - Epoch 188: train_loss=0.0265
[2026-03-23 21:19:59,387][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:20:03,353][force_il.training.trainer][INFO] - Epoch 189: train_loss=0.0270
[2026-03-23 21:20:04,791][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0189.pt
[2026-03-23 21:20:08,744][force_il.training.trainer][INFO] - Epoch 190: train_loss=0.0272
[2026-03-23 21:20:15,047][force_il.training.trainer][INFO] - Epoch 191: train_loss=0.0261
[2026-03-23 21:20:16,913][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:20:20,828][force_il.training.trainer][INFO] - Epoch 192: train_loss=0.0248
[2026-03-23 21:20:22,822][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:20:26,730][force_il.training.trainer][INFO] - Epoch 193: train_loss=0.0257
[2026-03-23 21:20:30,508][force_il.training.trainer][INFO] - Epoch 194: train_loss=0.0262
[2026-03-23 21:20:34,359][force_il.training.trainer][INFO] - Epoch 195: train_loss=0.0265
[2026-03-23 21:20:40,585][force_il.training.trainer][INFO] - Epoch 196: train_loss=0.0259
[2026-03-23 21:20:44,498][force_il.training.trainer][INFO] - Epoch 197: train_loss=0.0264
[2026-03-23 21:20:48,422][force_il.training.trainer][INFO] - Epoch 198: train_loss=0.0258
[2026-03-23 21:20:52,272][force_il.training.trainer][INFO] - Epoch 199: train_loss=0.0282
[2026-03-23 21:20:53,699][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0199.pt
[2026-03-23 21:25:47,127][force_il.training.hf_upload][INFO] - Uploaded best.pt to HF
[2026-03-23 21:25:47,128][force_il.training.trainer][INFO] - Uploaded best.pt to HF (epoch 199)
[2026-03-23 21:25:51,563][force_il.training.trainer][INFO] - Epoch 200: train_loss=0.0285
[2026-03-23 21:25:57,840][force_il.training.trainer][INFO] - Epoch 201: train_loss=0.0273
[2026-03-23 21:26:01,692][force_il.training.trainer][INFO] - Epoch 202: train_loss=0.0274
[2026-03-23 21:26:05,555][force_il.training.trainer][INFO] - Epoch 203: train_loss=0.0250
[2026-03-23 21:26:09,474][force_il.training.trainer][INFO] - Epoch 204: train_loss=0.0267
[2026-03-23 21:26:13,379][force_il.training.trainer][INFO] - Epoch 205: train_loss=0.0257
[2026-03-23 21:26:19,698][force_il.training.trainer][INFO] - Epoch 206: train_loss=0.0239
[2026-03-23 21:26:22,289][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:26:26,200][force_il.training.trainer][INFO] - Epoch 207: train_loss=0.0234
[2026-03-23 21:26:31,719][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:26:35,624][force_il.training.trainer][INFO] - Epoch 208: train_loss=0.0235
[2026-03-23 21:26:39,554][force_il.training.trainer][INFO] - Epoch 209: train_loss=0.0236
[2026-03-23 21:26:40,922][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0209.pt
[2026-03-23 21:26:44,817][force_il.training.trainer][INFO] - Epoch 210: train_loss=0.0255
[2026-03-23 21:26:51,037][force_il.training.trainer][INFO] - Epoch 211: train_loss=0.0244
[2026-03-23 21:26:54,941][force_il.training.trainer][INFO] - Epoch 212: train_loss=0.0236
[2026-03-23 21:26:58,790][force_il.training.trainer][INFO] - Epoch 213: train_loss=0.0237
[2026-03-23 21:27:02,712][force_il.training.trainer][INFO] - Epoch 214: train_loss=0.0239
[2026-03-23 21:27:06,579][force_il.training.trainer][INFO] - Epoch 215: train_loss=0.0239
[2026-03-23 21:27:12,787][force_il.training.trainer][INFO] - Epoch 216: train_loss=0.0235
[2026-03-23 21:27:16,588][force_il.training.trainer][INFO] - Epoch 217: train_loss=0.0233
[2026-03-23 21:27:20,851][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:27:24,680][force_il.training.trainer][INFO] - Epoch 218: train_loss=0.0240
[2026-03-23 21:27:28,532][force_il.training.trainer][INFO] - Epoch 219: train_loss=0.0221
[2026-03-23 21:27:32,927][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:27:34,335][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0219.pt
[2026-03-23 21:27:38,276][force_il.training.trainer][INFO] - Epoch 220: train_loss=0.0224
[2026-03-23 21:27:44,510][force_il.training.trainer][INFO] - Epoch 221: train_loss=0.0232
[2026-03-23 21:27:48,408][force_il.training.trainer][INFO] - Epoch 222: train_loss=0.0227
[2026-03-23 21:27:52,339][force_il.training.trainer][INFO] - Epoch 223: train_loss=0.0226
[2026-03-23 21:27:56,249][force_il.training.trainer][INFO] - Epoch 224: train_loss=0.0228
[2026-03-23 21:28:00,045][force_il.training.trainer][INFO] - Epoch 225: train_loss=0.0232
[2026-03-23 21:28:06,323][force_il.training.trainer][INFO] - Epoch 226: train_loss=0.0217
[2026-03-23 21:28:09,926][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:28:13,828][force_il.training.trainer][INFO] - Epoch 227: train_loss=0.0214
[2026-03-23 21:28:17,644][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:28:21,593][force_il.training.trainer][INFO] - Epoch 228: train_loss=0.0220
[2026-03-23 21:28:25,514][force_il.training.trainer][INFO] - Epoch 229: train_loss=0.0221
[2026-03-23 21:28:27,631][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0229.pt
[2026-03-23 21:28:31,534][force_il.training.trainer][INFO] - Epoch 230: train_loss=0.0216
[2026-03-23 21:28:37,739][force_il.training.trainer][INFO] - Epoch 231: train_loss=0.0221
[2026-03-23 21:28:41,614][force_il.training.trainer][INFO] - Epoch 232: train_loss=0.0209
[2026-03-23 21:28:45,586][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:28:49,569][force_il.training.trainer][INFO] - Epoch 233: train_loss=0.0219
[2026-03-23 21:28:53,415][force_il.training.trainer][INFO] - Epoch 234: train_loss=0.0212
[2026-03-23 21:28:57,278][force_il.training.trainer][INFO] - Epoch 235: train_loss=0.0214
[2026-03-23 21:29:03,515][force_il.training.trainer][INFO] - Epoch 236: train_loss=0.0217
[2026-03-23 21:29:07,362][force_il.training.trainer][INFO] - Epoch 237: train_loss=0.0214
[2026-03-23 21:29:11,213][force_il.training.trainer][INFO] - Epoch 238: train_loss=0.0225
[2026-03-23 21:29:15,120][force_il.training.trainer][INFO] - Epoch 239: train_loss=0.0218
[2026-03-23 21:29:16,535][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0239.pt
[2026-03-23 21:29:20,426][force_il.training.trainer][INFO] - Epoch 240: train_loss=0.0208
[2026-03-23 21:29:25,912][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:29:29,827][force_il.training.trainer][INFO] - Epoch 241: train_loss=0.0211
[2026-03-23 21:29:33,673][force_il.training.trainer][INFO] - Epoch 242: train_loss=0.0220
[2026-03-23 21:29:37,595][force_il.training.trainer][INFO] - Epoch 243: train_loss=0.0213
[2026-03-23 21:29:41,508][force_il.training.trainer][INFO] - Epoch 244: train_loss=0.0215
[2026-03-23 21:29:45,426][force_il.training.trainer][INFO] - Epoch 245: train_loss=0.0215
[2026-03-23 21:29:51,661][force_il.training.trainer][INFO] - Epoch 246: train_loss=0.0203
[2026-03-23 21:29:54,563][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:29:58,446][force_il.training.trainer][INFO] - Epoch 247: train_loss=0.0196
[2026-03-23 21:30:00,363][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:30:04,255][force_il.training.trainer][INFO] - Epoch 248: train_loss=0.0202
[2026-03-23 21:30:08,173][force_il.training.trainer][INFO] - Epoch 249: train_loss=0.0200
[2026-03-23 21:30:09,550][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0249.pt
[2026-03-23 21:30:13,981][force_il.training.trainer][INFO] - Epoch 250: train_loss=0.0211
[2026-03-23 21:30:20,208][force_il.training.trainer][INFO] - Epoch 251: train_loss=0.0193
[2026-03-23 21:30:22,864][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:30:26,718][force_il.training.trainer][INFO] - Epoch 252: train_loss=0.0198
[2026-03-23 21:30:30,635][force_il.training.trainer][INFO] - Epoch 253: train_loss=0.0192
[2026-03-23 21:30:33,340][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:30:37,333][force_il.training.trainer][INFO] - Epoch 254: train_loss=0.0192
[2026-03-23 21:30:41,200][force_il.training.trainer][INFO] - Epoch 255: train_loss=0.0190
[2026-03-23 21:30:46,187][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:30:50,086][force_il.training.trainer][INFO] - Epoch 256: train_loss=0.0184
[2026-03-23 21:30:51,802][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:30:55,734][force_il.training.trainer][INFO] - Epoch 257: train_loss=0.0191
[2026-03-23 21:30:59,657][force_il.training.trainer][INFO] - Epoch 258: train_loss=0.0186
[2026-03-23 21:31:03,570][force_il.training.trainer][INFO] - Epoch 259: train_loss=0.0193
[2026-03-23 21:31:04,983][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0259.pt
[2026-03-23 21:31:08,913][force_il.training.trainer][INFO] - Epoch 260: train_loss=0.0190
[2026-03-23 21:31:15,211][force_il.training.trainer][INFO] - Epoch 261: train_loss=0.0186
[2026-03-23 21:31:19,129][force_il.training.trainer][INFO] - Epoch 262: train_loss=0.0186
[2026-03-23 21:31:23,024][force_il.training.trainer][INFO] - Epoch 263: train_loss=0.0188
[2026-03-23 21:31:26,950][force_il.training.trainer][INFO] - Epoch 264: train_loss=0.0185
[2026-03-23 21:31:30,864][force_il.training.trainer][INFO] - Epoch 265: train_loss=0.0184
[2026-03-23 21:31:35,472][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:31:39,287][force_il.training.trainer][INFO] - Epoch 266: train_loss=0.0175
[2026-03-23 21:31:40,987][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:31:44,931][force_il.training.trainer][INFO] - Epoch 267: train_loss=0.0179
[2026-03-23 21:31:48,801][force_il.training.trainer][INFO] - Epoch 268: train_loss=0.0178
[2026-03-23 21:31:52,718][force_il.training.trainer][INFO] - Epoch 269: train_loss=0.0178
[2026-03-23 21:31:54,148][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0269.pt
[2026-03-23 21:31:58,089][force_il.training.trainer][INFO] - Epoch 270: train_loss=0.0172
[2026-03-23 21:32:02,481][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:32:06,362][force_il.training.trainer][INFO] - Epoch 271: train_loss=0.0175
[2026-03-23 21:32:10,283][force_il.training.trainer][INFO] - Epoch 272: train_loss=0.0172
[2026-03-23 21:32:12,186][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:32:16,143][force_il.training.trainer][INFO] - Epoch 273: train_loss=0.0169
[2026-03-23 21:32:17,892][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:32:21,763][force_il.training.trainer][INFO] - Epoch 274: train_loss=0.0175
[2026-03-23 21:32:25,679][force_il.training.trainer][INFO] - Epoch 275: train_loss=0.0179
[2026-03-23 21:32:31,842][force_il.training.trainer][INFO] - Epoch 276: train_loss=0.0167
[2026-03-23 21:32:33,960][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:32:37,905][force_il.training.trainer][INFO] - Epoch 277: train_loss=0.0178
[2026-03-23 21:32:41,774][force_il.training.trainer][INFO] - Epoch 278: train_loss=0.0169
[2026-03-23 21:32:45,676][force_il.training.trainer][INFO] - Epoch 279: train_loss=0.0162
[2026-03-23 21:32:47,626][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:32:49,036][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0279.pt
[2026-03-23 21:32:52,949][force_il.training.trainer][INFO] - Epoch 280: train_loss=0.0170
[2026-03-23 21:32:59,201][force_il.training.trainer][INFO] - Epoch 281: train_loss=0.0168
[2026-03-23 21:33:03,106][force_il.training.trainer][INFO] - Epoch 282: train_loss=0.0168
[2026-03-23 21:33:06,964][force_il.training.trainer][INFO] - Epoch 283: train_loss=0.0171
[2026-03-23 21:33:10,886][force_il.training.trainer][INFO] - Epoch 284: train_loss=0.0163
[2026-03-23 21:33:14,801][force_il.training.trainer][INFO] - Epoch 285: train_loss=0.0172
[2026-03-23 21:33:20,962][force_il.training.trainer][INFO] - Epoch 286: train_loss=0.0170
[2026-03-23 21:33:24,881][force_il.training.trainer][INFO] - Epoch 287: train_loss=0.0164
[2026-03-23 21:33:28,799][force_il.training.trainer][INFO] - Epoch 288: train_loss=0.0161
[2026-03-23 21:33:30,674][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:33:34,539][force_il.training.trainer][INFO] - Epoch 289: train_loss=0.0168
[2026-03-23 21:33:36,146][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0289.pt
[2026-03-23 21:33:40,070][force_il.training.trainer][INFO] - Epoch 290: train_loss=0.0166
[2026-03-23 21:33:46,341][force_il.training.trainer][INFO] - Epoch 291: train_loss=0.0161
[2026-03-23 21:33:50,213][force_il.training.trainer][INFO] - Epoch 292: train_loss=0.0161
[2026-03-23 21:33:52,106][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:33:56,022][force_il.training.trainer][INFO] - Epoch 293: train_loss=0.0163
[2026-03-23 21:33:59,943][force_il.training.trainer][INFO] - Epoch 294: train_loss=0.0169
[2026-03-23 21:34:03,906][force_il.training.trainer][INFO] - Epoch 295: train_loss=0.0160
[2026-03-23 21:34:08,229][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/best.pt
[2026-03-23 21:34:12,168][force_il.training.trainer][INFO] - Epoch 296: train_loss=0.0162
[2026-03-23 21:34:16,083][force_il.training.trainer][INFO] - Epoch 297: train_loss=0.0163
[2026-03-23 21:34:20,020][force_il.training.trainer][INFO] - Epoch 298: train_loss=0.0165
[2026-03-23 21:34:23,922][force_il.training.trainer][INFO] - Epoch 299: train_loss=0.0161
[2026-03-23 21:34:25,621][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/epoch_0299.pt
[2026-03-23 21:38:16,138][force_il.training.hf_upload][INFO] - Uploaded best.pt to HF
[2026-03-23 21:38:16,138][force_il.training.trainer][INFO] - Uploaded best.pt to HF (epoch 299)
[2026-03-23 21:38:17,771][force_il.training.trainer][INFO] - Saved checkpoint: outputs/2026-03-23/acp_flip_up_205858/checkpoints/final.pt
[2026-03-23 21:38:17,772][__main__][INFO] - Training complete. Final train loss: 0.0161
[2026-03-23 21:38:17,773][__main__][INFO] - Saved normalizer to outputs/2026-03-23/acp_flip_up_205858/checkpoints/normalizer.pt
[2026-03-23 23:59:43,045][force_il.training.hf_upload][INFO] - Uploaded final.pt to HF
|