diff --git "a/can/checkpoint_10/run.log" "b/can/checkpoint_10/run.log" new file mode 100644--- /dev/null +++ "b/can/checkpoint_10/run.log" @@ -0,0 +1,1010 @@ +[2025-09-21 12:41:09,339][root][INFO] - Number of network parameters: 575564 +[2025-09-21 12:41:09,480][agent.dataset.sequence][INFO] - Loaded dataset from /home/zbzhu/Code/dppo/data/robomimic/can/train.npz +[2025-09-21 12:41:09,480][agent.dataset.sequence][INFO] - Number of episodes: 10 +[2025-09-21 12:41:09,480][agent.dataset.sequence][INFO] - States shape/type: (torch.Size([1142, 23]), torch.float32) +[2025-09-21 12:41:09,480][agent.dataset.sequence][INFO] - Actions shape/type: (torch.Size([1142, 7]), torch.float32) +[2025-09-21 12:41:09,587][agent.pretrain.train_diffusion_agent][INFO] - 1: train loss 1.0704 | t: 0.1064 +[2025-09-21 12:41:09,608][agent.pretrain.train_diffusion_agent][INFO] - 2: train loss 1.0428 | t: 0.0210 +[2025-09-21 12:41:09,629][agent.pretrain.train_diffusion_agent][INFO] - 3: train loss 1.0555 | t: 0.0207 +[2025-09-21 12:41:09,649][agent.pretrain.train_diffusion_agent][INFO] - 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64: train loss 0.2904 | t: 0.0196 +[2025-09-21 12:41:10,862][agent.pretrain.train_diffusion_agent][INFO] - 65: train loss 0.2795 | t: 0.0200 +[2025-09-21 12:41:10,881][agent.pretrain.train_diffusion_agent][INFO] - 66: train loss 0.2652 | t: 0.0195 +[2025-09-21 12:41:10,902][agent.pretrain.train_diffusion_agent][INFO] - 67: train loss 0.2616 | t: 0.0206 +[2025-09-21 12:41:10,922][agent.pretrain.train_diffusion_agent][INFO] - 68: train loss 0.2425 | t: 0.0204 +[2025-09-21 12:41:10,943][agent.pretrain.train_diffusion_agent][INFO] - 69: train loss 0.2535 | t: 0.0205 +[2025-09-21 12:41:10,963][agent.pretrain.train_diffusion_agent][INFO] - 70: train loss 0.2405 | t: 0.0198 +[2025-09-21 12:41:10,983][agent.pretrain.train_diffusion_agent][INFO] - 71: train loss 0.2380 | t: 0.0207 +[2025-09-21 12:41:11,004][agent.pretrain.train_diffusion_agent][INFO] - 72: train loss 0.2224 | t: 0.0202 +[2025-09-21 12:41:11,024][agent.pretrain.train_diffusion_agent][INFO] - 73: train loss 0.2278 | t: 0.0207 +[2025-09-21 12:41:11,044][agent.pretrain.train_diffusion_agent][INFO] - 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996: train loss 0.0830 | t: 0.0199 +[2025-09-21 12:41:29,679][agent.pretrain.train_diffusion_agent][INFO] - 997: train loss 0.0800 | t: 0.0199 +[2025-09-21 12:41:29,699][agent.pretrain.train_diffusion_agent][INFO] - 998: train loss 0.0853 | t: 0.0196 +[2025-09-21 12:41:29,719][agent.pretrain.train_diffusion_agent][INFO] - 999: train loss 0.0827 | t: 0.0196 +[2025-09-21 12:41:29,743][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-21_12-41-03_42/checkpoint/state_1000.pt +[2025-09-21 12:41:29,743][agent.pretrain.train_diffusion_agent][INFO] - 1000: train loss 0.0812 | t: 0.0245