wandb/debug.log

2026-02-11 16:43:16,683 INFO    MainThread:758043 [wandb_setup.py:_flush():81] Current SDK version is 0.24.0
2026-02-11 16:43:16,683 INFO    MainThread:758043 [wandb_setup.py:_flush():81] Configure stats pid to 758043
2026-02-11 16:43:16,683 INFO    MainThread:758043 [wandb_setup.py:_flush():81] Loading settings from environment variables
2026-02-11 16:43:16,683 INFO    MainThread:758043 [wandb_init.py:setup_run_log_directory():717] Logging user logs to outputs/train/2026-02-11/16-43-13_act_pick5_h200/wandb/run-20260211_164316-or6ivrti/logs/debug.log
2026-02-11 16:43:16,683 INFO    MainThread:758043 [wandb_init.py:setup_run_log_directory():718] Logging internal logs to outputs/train/2026-02-11/16-43-13_act_pick5_h200/wandb/run-20260211_164316-or6ivrti/logs/debug-internal.log
2026-02-11 16:43:16,683 INFO    MainThread:758043 [wandb_init.py:init():844] calling init triggers
2026-02-11 16:43:16,683 INFO    MainThread:758043 [wandb_init.py:init():849] wandb.init called with sweep_config: {}
config: {'dataset': {'repo_id': 'Sendera/pick5', 'root': '/srv/scratch/z5649701/datasets/Sendera/pick5', 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 0.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 0.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 0.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 0.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 0.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}, 'affine': {'weight': 0.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}, 'resize': {'weight': 0.0, 'type': 'Resize', 'kwargs': {'size': 512, 'interpolation': 2, 'antialias': True}}, 'center_crop': {'weight': 0.0, 'type': 'CenterCrop', 'kwargs': {'size': 512}}, 'random_crop': {'weight': 1.0, 'type': 'RandomCrop', 'kwargs': {'size': 256, 'padding': 13, 'padding_mode': 'edge'}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'pyav', 'streaming': False}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': 'act_pick5_h200', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'chunk_size': 100, 'n_action_steps': 100, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 512, 'n_heads': 8, 'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, 'n_decoder_layers': 1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'temporal_ensemble_coeff': None, 'dropout': 0.1, 'kl_weight': 10.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'output_dir': 'outputs/train/2026-02-11/16-43-13_act_pick5_h200', 'job_name': 'act_pick5_h200', 'resume': False, 'seed': 1000, 'num_workers': 12, 'batch_size': 8, 'steps': 1000000, 'eval_freq': 20000, 'log_freq': 200, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 100000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 1e-05, 'weight_decay': 0.0001, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': None, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot_leo', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'peft': None, 'use_rabc': False, 'rabc_progress_path': None, 'rabc_kappa': 0.01, 'rabc_epsilon': 1e-06, 'rabc_head_mode': 'sparse', 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}}
2026-02-11 16:43:16,686 INFO    MainThread:758043 [wandb_init.py:init():892] starting backend
2026-02-11 16:43:17,456 INFO    MainThread:758043 [wandb_init.py:init():895] sending inform_init request
2026-02-11 16:43:17,470 INFO    MainThread:758043 [wandb_init.py:init():903] backend started and connected
2026-02-11 16:43:17,471 INFO    MainThread:758043 [wandb_init.py:init():973] updated telemetry
2026-02-11 16:43:17,472 INFO    MainThread:758043 [wandb_init.py:init():997] communicating run to backend with 90.0 second timeout
2026-02-11 16:43:18,378 INFO    MainThread:758043 [wandb_init.py:init():1044] starting run threads in backend
2026-02-11 16:43:18,673 INFO    MainThread:758043 [wandb_run.py:_console_start():2529] atexit reg
2026-02-11 16:43:18,673 INFO    MainThread:758043 [wandb_run.py:_redirect():2377] redirect: wrap_raw
2026-02-11 16:43:18,673 INFO    MainThread:758043 [wandb_run.py:_redirect():2446] Wrapping output streams.
2026-02-11 16:43:18,673 INFO    MainThread:758043 [wandb_run.py:_redirect():2469] Redirects installed.
2026-02-11 16:43:18,686 INFO    MainThread:758043 [wandb_init.py:init():1084] run started, returning control to user process