wandb/debug.log

2026-05-18 16:55:01,094 INFO    MainThread:44311 [wandb_setup.py:_flush():81] Current SDK version is 0.24.2
2026-05-18 16:55:01,094 INFO    MainThread:44311 [wandb_setup.py:_flush():81] Configure stats pid to 44311
2026-05-18 16:55:01,094 INFO    MainThread:44311 [wandb_setup.py:_flush():81] Loading settings from environment variables
2026-05-18 16:55:01,094 INFO    MainThread:44311 [wandb_init.py:setup_run_log_directory():717] Logging user logs to outputs/train/eval1_fixed_merged_from_base_lightingonly_20260518_165453/wandb/run-20260518_165501-vjy2hgq7/logs/debug.log
2026-05-18 16:55:01,094 INFO    MainThread:44311 [wandb_init.py:setup_run_log_directory():718] Logging internal logs to outputs/train/eval1_fixed_merged_from_base_lightingonly_20260518_165453/wandb/run-20260518_165501-vjy2hgq7/logs/debug-internal.log
2026-05-18 16:55:01,094 INFO    MainThread:44311 [wandb_init.py:init():844] calling init triggers
2026-05-18 16:55:01,094 INFO    MainThread:44311 [wandb_init.py:init():849] wandb.init called with sweep_config: {}
config: {'dataset': {'repo_id': 'robot-learning-group47/eval1_fixed_merged_remap', 'root': '/dev/shm/lerobot_datasets/eval1_fixed_merged_remap', 'episodes': None, 'image_transforms': {'enable': True, 'max_num_transforms': 2, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'return_uint8': False, 'streaming': False}, 'env': None, 'policy': {'type': 'smolvla', 'n_obs_steps': 1, 'input_features': {'observation.state': {'type': <FeatureType.STATE: 'STATE'>, 'shape': [6]}, 'observation.images.camera1': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 256, 256]}, 'observation.images.camera2': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 256, 256]}, 'observation.images.camera3': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 256, 256]}}, 'output_features': {'action': {'type': <FeatureType.ACTION: 'ACTION'>, 'shape': [6]}}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': True, 'repo_id': 'robot-learning-group47/eval1_fixed_merged_from_base_lightingonly', 'private': None, 'tags': None, 'license': None, 'pretrained_path': 'lerobot/smolvla_base', 'chunk_size': 50, 'n_action_steps': 50, 'normalization_mapping': {'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'max_state_dim': 32, 'max_action_dim': 32, 'resize_imgs_with_padding': [256, 256], 'empty_cameras': 2, 'adapt_to_pi_aloha': False, 'use_delta_joint_actions_aloha': False, 'tokenizer_max_length': 48, 'num_steps': 10, 'use_cache': True, 'freeze_vision_encoder': True, 'train_expert_only': True, 'train_state_proj': True, 'optimizer_lr': 0.0001, 'optimizer_betas': [0.9, 0.95], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-10, 'optimizer_grad_clip_norm': 10.0, 'scheduler_warmup_steps': 1000, 'scheduler_decay_steps': 30000, 'scheduler_decay_lr': 2.5e-06, 'vlm_model_name': 'HuggingFaceTB/SmolVLM2-500M-Video-Instruct', 'load_vlm_weights': False, 'add_image_special_tokens': False, 'attention_mode': 'cross_attn', 'prefix_length': -1, 'pad_language_to': 'longest', 'num_expert_layers': -1, 'num_vlm_layers': 16, 'self_attn_every_n_layers': 2, 'expert_width_multiplier': 0.75, 'min_period': 0.004, 'max_period': 4.0, 'rtc_config': None, 'compile_model': False, 'compile_mode': 'max-autotune'}, 'reward_model': None, 'output_dir': 'outputs/train/eval1_fixed_merged_from_base_lightingonly_20260518_165453', 'job_name': 'eval1_fixed_merged_from_base_lightingonly_20260518_165453', 'resume': False, 'seed': 1000, 'cudnn_deterministic': False, 'num_workers': 8, 'batch_size': 64, 'prefetch_factor': 2, 'persistent_workers': True, 'steps': 30000, 'eval_freq': 20000, 'log_freq': 20, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 1000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 0.0001, 'weight_decay': 1e-10, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.95], 'eps': 1e-08}, 'scheduler': {'type': 'cosine_decay_with_warmup', 'num_warmup_steps': 1000, 'num_decay_steps': 30000, 'peak_lr': 0.0001, 'decay_lr': 2.5e-06}, 'eval': {'n_episodes': 50, 'batch_size': 8, 'use_async_envs': True}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None, 'add_tags': True}, 'peft': None, 'sample_weighting': None, 'rename_map': {'observation.images.front': 'observation.images.camera1'}, 'checkpoint_path': None, '_wandb': {}}
2026-05-18 16:55:01,094 INFO    MainThread:44311 [wandb_init.py:init():892] starting backend
2026-05-18 16:55:01,309 INFO    MainThread:44311 [wandb_init.py:init():895] sending inform_init request
2026-05-18 16:55:01,312 INFO    MainThread:44311 [wandb_init.py:init():903] backend started and connected
2026-05-18 16:55:01,314 INFO    MainThread:44311 [wandb_init.py:init():973] updated telemetry
2026-05-18 16:55:01,317 INFO    MainThread:44311 [wandb_init.py:init():997] communicating run to backend with 90.0 second timeout
2026-05-18 16:55:02,162 INFO    MainThread:44311 [wandb_init.py:init():1042] starting run threads in backend
2026-05-18 16:55:02,215 INFO    MainThread:44311 [wandb_run.py:_console_start():2529] atexit reg
2026-05-18 16:55:02,215 INFO    MainThread:44311 [wandb_run.py:_redirect():2377] redirect: wrap_raw
2026-05-18 16:55:02,215 INFO    MainThread:44311 [wandb_run.py:_redirect():2446] Wrapping output streams.
2026-05-18 16:55:02,215 INFO    MainThread:44311 [wandb_run.py:_redirect():2469] Redirects installed.
2026-05-18 16:55:02,218 INFO    MainThread:44311 [wandb_init.py:init():1082] run started, returning control to user process