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acp-flip-up

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+ [2026-03-23 20:58:58,654][__main__][INFO] - Configuration:
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+ policy:
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+ name: acp
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+ _target_: force_il.policies.acp.ACPPolicy
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+ action_dim: 19
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+ pred_horizon: 16
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+ obs_horizon: 2
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+ action_horizon: 16
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+ vision_encoder_name: vit_base_patch32_clip_224.openai
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+ vision_pretrained: true
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+ vision_output_dim: 768
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+ wrench_encoding: causalconv
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+ wrench_window_size: 256
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+ wrench_freq: 5000.0
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+ wrench_output_dim: 384
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+ fuse_mode: modality-attention
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+ obs_num_rgb_frames: 2
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+ include_low_dim: true
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+ low_dim_eef_pos_horizon: 3
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+ low_dim_eef_pos_dim: 3
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+ low_dim_eef_rot_horizon: 3
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+ low_dim_eef_rot_dim: 6
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+ num_diffusion_steps: 50
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+ noise_scheduler: ddim
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+ unet_down_dims:
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+ - 256
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+ - 512
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+ - 1024
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+ diffusion_step_embed_dim: 32
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+ unet_kernel_size: 5
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+ unet_n_groups: 8
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+ cond_predict_scale: true
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+ input_perturbation: 0.1
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+ unified_action: true
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+ unified_action_dim: 19
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+ pose_dim: 9
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+ vt_dim: 9
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+ stiffness_dim: 1
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+ predict_virtual_target: false
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+ predict_stiffness: false
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+ default_stiffness: 100.0
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+ num_inference_steps: 16
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+ task:
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+ name: flip_up
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+ dataset_path: data/flip_up_230/flip_up_new_v5
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+ action_dim: 19
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+ obs_horizon: 2
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+ eef_obs_horizon: 3
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+ eef_down_sample_steps: 5
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+ pred_horizon: 16
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+ action_horizon: 16
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+ action_down_sample_steps: 50
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+ wrench_horizon: 32
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+ wrench_down_sample_steps: 4
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+ query_down_sample_steps: 8
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+ image_size: 224
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+ val_ratio: 0.05
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+ data:
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+ _target_: force_il.data.acp_dataset.ACPEpisodeDataset
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+ dataset_path: data/flip-20e_acp
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+ pred_horizon: 16
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+ obs_horizon: 2
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+ rgb_down_sample_steps: 10
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+ eef_obs_horizon: 3
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+ eef_down_sample_steps: 5
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+ action_down_sample_steps: 50
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+ wrench_horizon: 32
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+ wrench_down_sample_steps: 4
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+ query_down_sample_steps: 8
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+ image_size: 224
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+ val_ratio: 0.05
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+ seed: 42
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+ is_val: false
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+ relative_actions: true
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+ train:
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+ epochs: 300
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+ batch_size: 128
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+ gradient_accumulation: 1
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+ optimizer:
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+ _target_: torch.optim.AdamW
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+ lr: 0.0003
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+ weight_decay: 1.0e-06
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+ betas:
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+ - 0.95
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+ - 0.999
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+ scheduler:
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+ type: cosine
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+ warmup_steps: 2000
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+ min_lr: 1.0e-06
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+ encoder_lr_scale: 0.1
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+ mixed_precision: fp16
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+ use_ema: true
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+ ema_decay: 0.9999
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+ ema_power: 0.75
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+ ema_update_after_step: 0
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+ log_interval: 50
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+ use_wandb: true
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+ wandb_project: force_il
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+ wandb_name: null
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+ val_every: 5
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+ sample_every: 5
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+ val_interval: 500
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+ checkpoint_interval: 10
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+ save_best: true
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+ best_checkpoint_monitor: train_loss
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+ num_workers: 8
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+ pin_memory: true
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+ prefetch_factor: 2
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+ normalizer_use_full_dataset: false
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+ upload_to_hf: true
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+ hf_repo_id: tangPR/acp-flip-up
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+ hf_upload_interval: 100
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+ seed: 42
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+ experiment_name: acp_flip_up
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+ seed: 42
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+ validate:
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+ checkpoint: null
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+ num_samples: 5
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+ output_dir: ./validation_plots
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+ use_train_split: false
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+ output_dir: outputs/2026-03-23/acp_flip_up_205858
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+ checkpoint_dir: outputs/2026-03-23/acp_flip_up_205858/checkpoints
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+ log_dir: outputs/2026-03-23/acp_flip_up_205858/logs
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+
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+ [2026-03-23 20:58:58,814][__main__][INFO] - Building dataset...
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+ [2026-03-23 20:58:59,158][force_il.data.acp_dataset][INFO] - Loaded 24 episodes from data/flip-20e_acp/data
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+ [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
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+ [2026-03-23 20:58:59,439][force_il.data.acp_dataset][INFO] - ACPEpisodeDataset: 1 episodes, 68 samples (val)
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+ [2026-03-23 20:58:59,439][__main__][INFO] - Train samples: 1360, Val samples: 68
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+ [2026-03-23 20:58:59,439][__main__][INFO] - Computing normalization statistics from training split...
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+ [2026-03-23 20:58:59,439][force_il.data.acp_dataset][INFO] - Computing normalizer from dataset...
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+ [2026-03-23 20:58:59,491][force_il.data.acp_dataset][INFO] - Normalizer fitted.
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+ [2026-03-23 20:58:59,494][__main__][INFO] - Saved normalizer to outputs/2026-03-23/acp_flip_up_205858/checkpoints/normalizer.pt
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+ [2026-03-23 20:58:59,687][force_il.training.hf_upload][INFO] - HF repo ready: https://huggingface.co/tangPR/acp-flip-up
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+ [2026-03-23 20:59:01,210][force_il.training.hf_upload][INFO] - Uploaded config to HF
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+ [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.
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+ [2026-03-23 20:59:03,311][force_il.training.hf_upload][INFO] - Uploaded normalizer.pt to HF
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+ [2026-03-23 20:59:03,311][__main__][INFO] - HF upload enabled → tangPR/acp-flip-up
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+ [2026-03-23 20:59:03,311][__main__][INFO] - Building policy...
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+ [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)
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+ [2026-03-23 20:59:05,377][__main__][INFO] - Policy: acp
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+ [2026-03-23 20:59:05,377][__main__][INFO] - Trainable parameters: 170,491,491
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+ [2026-03-23 20:59:05,378][__main__][INFO] - Encoder LR scale: 0.1
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+ [2026-03-23 20:59:05,378][__main__][INFO] - Scheduler: cosine with 2000 warmup steps, 3000 total steps
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+ [2026-03-23 20:59:05,555][__main__][INFO] - EMA enabled with decay=0.9999
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+ [2026-03-23 20:59:05,555][__main__][INFO] - Starting training...
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+ [2026-03-23 20:59:11,372][force_il.training.trainer][INFO] - Epoch 0: train_loss=1.1360
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+ [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
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+ [2026-03-23 20:59:19,061][force_il.training.trainer][INFO] - Epoch 1: train_loss=1.0557
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+ [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
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+ [2026-03-23 20:59:24,754][force_il.training.trainer][INFO] - Epoch 2: train_loss=1.0280
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+ [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
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+ [2026-03-23 20:59:30,618][force_il.training.trainer][INFO] - Epoch 3: train_loss=1.0044
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+ [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
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+ [2026-03-23 20:59:36,353][force_il.training.trainer][INFO] - Epoch 4: train_loss=0.9865
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+ [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
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+ [2026-03-23 20:59:42,425][force_il.training.trainer][INFO] - Epoch 5: train_loss=0.9795
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+ [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
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+ [2026-03-23 20:59:50,847][force_il.training.trainer][INFO] - Epoch 6: train_loss=0.9653
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+ [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
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+ [2026-03-23 20:59:56,669][force_il.training.trainer][INFO] - Epoch 7: train_loss=0.9413
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+ [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
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+ [2026-03-23 21:00:02,511][force_il.training.trainer][INFO] - Epoch 8: train_loss=0.8907
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+ [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
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+ [2026-03-23 21:00:08,131][force_il.training.trainer][INFO] - Epoch 9: train_loss=0.8334
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+ [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
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+ [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
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+ [2026-03-23 21:00:15,733][force_il.training.trainer][INFO] - Epoch 10: train_loss=0.7563
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+ [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
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+ [2026-03-23 21:00:24,080][force_il.training.trainer][INFO] - Epoch 11: train_loss=0.6758
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+ [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
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+ [2026-03-23 21:00:29,652][force_il.training.trainer][INFO] - Epoch 12: train_loss=0.5963
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+ [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
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+ [2026-03-23 21:00:35,702][force_il.training.trainer][INFO] - Epoch 13: train_loss=0.5352
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+ [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
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+ [2026-03-23 21:00:41,161][force_il.training.trainer][INFO] - Epoch 14: train_loss=0.4769
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+ [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
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+ [2026-03-23 21:00:46,880][force_il.training.trainer][INFO] - Epoch 15: train_loss=0.4228
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+ [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
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+ [2026-03-23 21:00:54,899][force_il.training.trainer][INFO] - Epoch 16: train_loss=0.3748
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+ [2026-03-23 21:32:25,679][force_il.training.trainer][INFO] - Epoch 275: train_loss=0.0179
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+ [2026-03-23 21:33:34,539][force_il.training.trainer][INFO] - Epoch 289: train_loss=0.0168
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+ [2026-03-23 21:33:40,070][force_il.training.trainer][INFO] - Epoch 290: train_loss=0.0166
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+ [2026-03-23 21:33:46,341][force_il.training.trainer][INFO] - Epoch 291: train_loss=0.0161
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+ [2026-03-23 21:33:50,213][force_il.training.trainer][INFO] - Epoch 292: train_loss=0.0161
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+ [2026-03-23 21:33:56,022][force_il.training.trainer][INFO] - Epoch 293: train_loss=0.0163
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+ [2026-03-23 21:33:59,943][force_il.training.trainer][INFO] - Epoch 294: train_loss=0.0169
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+ [2026-03-23 21:34:03,906][force_il.training.trainer][INFO] - Epoch 295: train_loss=0.0160
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+ [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
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+ [2026-03-23 21:34:12,168][force_il.training.trainer][INFO] - Epoch 296: train_loss=0.0162
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+ [2026-03-23 21:34:16,083][force_il.training.trainer][INFO] - Epoch 297: train_loss=0.0163
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+ [2026-03-23 21:34:20,020][force_il.training.trainer][INFO] - Epoch 298: train_loss=0.0165
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+ [2026-03-23 21:34:23,922][force_il.training.trainer][INFO] - Epoch 299: train_loss=0.0161
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+ [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
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+ [2026-03-23 21:38:16,138][force_il.training.hf_upload][INFO] - Uploaded best.pt to HF
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+ [2026-03-23 21:38:16,138][force_il.training.trainer][INFO] - Uploaded best.pt to HF (epoch 299)
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+ [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
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+ [2026-03-23 21:38:17,772][__main__][INFO] - Training complete. Final train loss: 0.0161
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+ [2026-03-23 21:38:17,773][__main__][INFO] - Saved normalizer to outputs/2026-03-23/acp_flip_up_205858/checkpoints/normalizer.pt
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+ [2026-03-23 23:59:43,045][force_il.training.hf_upload][INFO] - Uploaded final.pt to HF