[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] - 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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] - 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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] - 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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] - 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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