| [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) |
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| [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 |
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| [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 |
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