PommesPeter commited on
Commit
b975f0f
·
verified ·
1 Parent(s): bb200e3

Upload folder using huggingface_hub

Browse files
Files changed (17) hide show
  1. .gitattributes +1 -0
  2. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/pretrained_model/config.json +89 -0
  3. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/pretrained_model/model.safetensors +3 -0
  4. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/pretrained_model/train_config.json +206 -0
  5. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/training_state/optimizer_param_groups.json +278 -0
  6. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/training_state/optimizer_state.safetensors +3 -0
  7. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/training_state/rng_state.safetensors +3 -0
  8. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/training_state/scheduler_state.json +21 -0
  9. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/training_state/training_step.json +3 -0
  10. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/debug-internal.log +12 -0
  11. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/debug.log +22 -0
  12. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/files/output.log +0 -0
  13. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/files/requirements.txt +296 -0
  14. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/logs/debug-core.log +14 -0
  15. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/logs/debug-internal.log +12 -0
  16. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/logs/debug.log +22 -0
  17. ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/run-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded.wandb +3 -0
.gitattributes CHANGED
@@ -36,3 +36,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
36
  LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray_demo.hdf5 filter=lfs diff=lfs merge=lfs -text
37
  ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action2_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212154-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action2_trans0.5_p1.0_aug_x_trans_100000_gap_padded/run-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action2_trans0.5_p1.0_aug_x_trans_100000_gap_padded.wandb filter=lfs diff=lfs merge=lfs -text
38
  ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action3_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212558-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action3_trans0.5_p1.0_aug_x_trans_100000_gap_padded/run-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action3_trans0.5_p1.0_aug_x_trans_100000_gap_padded.wandb filter=lfs diff=lfs merge=lfs -text
 
 
36
  LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray_demo.hdf5 filter=lfs diff=lfs merge=lfs -text
37
  ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action2_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212154-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action2_trans0.5_p1.0_aug_x_trans_100000_gap_padded/run-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action2_trans0.5_p1.0_aug_x_trans_100000_gap_padded.wandb filter=lfs diff=lfs merge=lfs -text
38
  ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action3_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212558-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action3_trans0.5_p1.0_aug_x_trans_100000_gap_padded/run-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action3_trans0.5_p1.0_aug_x_trans_100000_gap_padded.wandb filter=lfs diff=lfs merge=lfs -text
39
+ ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/run-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded.wandb filter=lfs diff=lfs merge=lfs -text
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/pretrained_model/config.json ADDED
@@ -0,0 +1,89 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "diffusion",
3
+ "n_obs_steps": 2,
4
+ "normalization_mapping": {
5
+ "VISUAL": "MEAN_STD",
6
+ "STATE": "MIN_MAX",
7
+ "ACTION": "MIN_MAX"
8
+ },
9
+ "input_features": {
10
+ "observation.image": {
11
+ "type": "VISUAL",
12
+ "shape": [
13
+ 3,
14
+ 256,
15
+ 256
16
+ ]
17
+ },
18
+ "observation.prev_action": {
19
+ "type": "STATE",
20
+ "shape": [
21
+ 7
22
+ ]
23
+ }
24
+ },
25
+ "output_features": {
26
+ "action": {
27
+ "type": "ACTION",
28
+ "shape": [
29
+ 7
30
+ ]
31
+ }
32
+ },
33
+ "device": "cuda",
34
+ "use_amp": false,
35
+ "horizon": 16,
36
+ "n_action_steps": 16,
37
+ "use_robot_state": false,
38
+ "use_prev_action": true,
39
+ "drop_n_last_frames": 15,
40
+ "vision_backbone": "resnet18",
41
+ "image_resize_resolution": [
42
+ 84,
43
+ 84
44
+ ],
45
+ "crop_shape": [
46
+ 84,
47
+ 84
48
+ ],
49
+ "crop_is_random": true,
50
+ "pretrained_backbone_weights": null,
51
+ "use_group_norm": true,
52
+ "spatial_softmax_num_keypoints": 32,
53
+ "use_separate_rgb_encoder_per_camera": false,
54
+ "down_dims": [
55
+ 512,
56
+ 1024,
57
+ 2048
58
+ ],
59
+ "kernel_size": 5,
60
+ "n_groups": 8,
61
+ "use_film_scale_modulation": true,
62
+ "use_transformer": true,
63
+ "n_layer": 8,
64
+ "n_head": 4,
65
+ "p_drop_emb": 0.0,
66
+ "p_drop_attn": 0.3,
67
+ "causal_attn": true,
68
+ "n_cond_layers": 0,
69
+ "diffusion_step_embed_dim": 128,
70
+ "noise_scheduler_type": "DDPM",
71
+ "num_train_timesteps": 100,
72
+ "beta_schedule": "squaredcos_cap_v2",
73
+ "beta_start": 0.0001,
74
+ "beta_end": 0.02,
75
+ "prediction_type": "epsilon",
76
+ "clip_sample": true,
77
+ "clip_sample_range": 1.0,
78
+ "num_inference_steps": null,
79
+ "do_mask_loss_for_padding": false,
80
+ "optimizer_lr": 0.0001,
81
+ "optimizer_betas": [
82
+ 0.95,
83
+ 0.999
84
+ ],
85
+ "optimizer_eps": 1e-08,
86
+ "optimizer_weight_decay": 1e-06,
87
+ "scheduler_name": "cosine",
88
+ "scheduler_warmup_steps": 1000
89
+ }
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:24766ba06ddc44b303b25952f29b6e22037d73d7dddcbb2c63642eee0d9c7d77
3
+ size 53934284
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,206 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "pommespeter/libero_90_no_noops_living_room_add_padding4",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ }
61
+ }
62
+ },
63
+ "action_transforms": {
64
+ "enable": true,
65
+ "enable_translation": false,
66
+ "angle_range": 10.0,
67
+ "trans_range": 0.5,
68
+ "p": 1.0
69
+ },
70
+ "revision": null,
71
+ "use_imagenet_stats": false,
72
+ "video_backend": "torchcodec"
73
+ },
74
+ "env": null,
75
+ "policy": {
76
+ "type": "diffusion",
77
+ "n_obs_steps": 2,
78
+ "normalization_mapping": {
79
+ "VISUAL": "MEAN_STD",
80
+ "STATE": "MIN_MAX",
81
+ "ACTION": "MIN_MAX"
82
+ },
83
+ "input_features": {
84
+ "observation.image": {
85
+ "type": "VISUAL",
86
+ "shape": [
87
+ 3,
88
+ 256,
89
+ 256
90
+ ]
91
+ },
92
+ "observation.prev_action": {
93
+ "type": "STATE",
94
+ "shape": [
95
+ 7
96
+ ]
97
+ }
98
+ },
99
+ "output_features": {
100
+ "action": {
101
+ "type": "ACTION",
102
+ "shape": [
103
+ 7
104
+ ]
105
+ }
106
+ },
107
+ "device": "cuda",
108
+ "use_amp": false,
109
+ "horizon": 16,
110
+ "n_action_steps": 16,
111
+ "use_robot_state": false,
112
+ "use_prev_action": true,
113
+ "drop_n_last_frames": 15,
114
+ "vision_backbone": "resnet18",
115
+ "image_resize_resolution": [
116
+ 84,
117
+ 84
118
+ ],
119
+ "crop_shape": [
120
+ 84,
121
+ 84
122
+ ],
123
+ "crop_is_random": true,
124
+ "pretrained_backbone_weights": null,
125
+ "use_group_norm": true,
126
+ "spatial_softmax_num_keypoints": 32,
127
+ "use_separate_rgb_encoder_per_camera": false,
128
+ "down_dims": [
129
+ 512,
130
+ 1024,
131
+ 2048
132
+ ],
133
+ "kernel_size": 5,
134
+ "n_groups": 8,
135
+ "use_film_scale_modulation": true,
136
+ "use_transformer": true,
137
+ "n_layer": 8,
138
+ "n_head": 4,
139
+ "p_drop_emb": 0.0,
140
+ "p_drop_attn": 0.3,
141
+ "causal_attn": true,
142
+ "n_cond_layers": 0,
143
+ "diffusion_step_embed_dim": 128,
144
+ "noise_scheduler_type": "DDPM",
145
+ "num_train_timesteps": 100,
146
+ "beta_schedule": "squaredcos_cap_v2",
147
+ "beta_start": 0.0001,
148
+ "beta_end": 0.02,
149
+ "prediction_type": "epsilon",
150
+ "clip_sample": true,
151
+ "clip_sample_range": 1.0,
152
+ "num_inference_steps": null,
153
+ "do_mask_loss_for_padding": false,
154
+ "optimizer_lr": 0.0001,
155
+ "optimizer_betas": [
156
+ 0.95,
157
+ 0.999
158
+ ],
159
+ "optimizer_eps": 1e-08,
160
+ "optimizer_weight_decay": 1e-06,
161
+ "scheduler_name": "cosine",
162
+ "scheduler_warmup_steps": 1000
163
+ },
164
+ "output_dir": "ina/ckpts/hist_aug/ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded",
165
+ "job_name": "diffusion",
166
+ "resume": false,
167
+ "seed": 1000,
168
+ "num_workers": 24,
169
+ "batch_size": 128,
170
+ "steps": 100000,
171
+ "eval_freq": 20000,
172
+ "log_freq": 200,
173
+ "save_checkpoint": true,
174
+ "save_freq": 10000,
175
+ "use_policy_training_preset": true,
176
+ "optimizer": {
177
+ "type": "adam",
178
+ "lr": 0.0001,
179
+ "weight_decay": 1e-06,
180
+ "grad_clip_norm": 10.0,
181
+ "betas": [
182
+ 0.95,
183
+ 0.999
184
+ ],
185
+ "eps": 1e-08
186
+ },
187
+ "scheduler": {
188
+ "type": "diffuser",
189
+ "num_warmup_steps": 1000,
190
+ "name": "cosine"
191
+ },
192
+ "eval": {
193
+ "n_episodes": 50,
194
+ "batch_size": 50,
195
+ "use_async_envs": false
196
+ },
197
+ "wandb": {
198
+ "enable": true,
199
+ "disable_artifact": true,
200
+ "project": "ina-libero-living-room-action",
201
+ "entity": "pommespeter",
202
+ "notes": null,
203
+ "run_id": "ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded",
204
+ "mode": "offline"
205
+ }
206
+ }
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,278 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "weight_decay": 0.001,
4
+ "lr": 0.0,
5
+ "betas": [
6
+ 0.9,
7
+ 0.95
8
+ ],
9
+ "eps": 1e-08,
10
+ "amsgrad": false,
11
+ "foreach": null,
12
+ "maximize": false,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "initial_lr": 0.0001,
17
+ "params": [
18
+ 0,
19
+ 1,
20
+ 2,
21
+ 3,
22
+ 4,
23
+ 5,
24
+ 6,
25
+ 7,
26
+ 8,
27
+ 9,
28
+ 10,
29
+ 11,
30
+ 12,
31
+ 13,
32
+ 14,
33
+ 15,
34
+ 16,
35
+ 17,
36
+ 18,
37
+ 19,
38
+ 20,
39
+ 21,
40
+ 22,
41
+ 23,
42
+ 24,
43
+ 25,
44
+ 26,
45
+ 27,
46
+ 28,
47
+ 29,
48
+ 30,
49
+ 31,
50
+ 32,
51
+ 33,
52
+ 34,
53
+ 35,
54
+ 36,
55
+ 37,
56
+ 38,
57
+ 39,
58
+ 40,
59
+ 41,
60
+ 42,
61
+ 43,
62
+ 44,
63
+ 45,
64
+ 46,
65
+ 47,
66
+ 48,
67
+ 49,
68
+ 50,
69
+ 51,
70
+ 52
71
+ ]
72
+ },
73
+ {
74
+ "weight_decay": 0.0,
75
+ "lr": 0.0,
76
+ "betas": [
77
+ 0.9,
78
+ 0.95
79
+ ],
80
+ "eps": 1e-08,
81
+ "amsgrad": false,
82
+ "foreach": null,
83
+ "maximize": false,
84
+ "capturable": false,
85
+ "differentiable": false,
86
+ "fused": null,
87
+ "initial_lr": 0.0001,
88
+ "params": [
89
+ 53,
90
+ 54,
91
+ 55,
92
+ 56,
93
+ 57,
94
+ 58,
95
+ 59,
96
+ 60,
97
+ 61,
98
+ 62,
99
+ 63,
100
+ 64,
101
+ 65,
102
+ 66,
103
+ 67,
104
+ 68,
105
+ 69,
106
+ 70,
107
+ 71,
108
+ 72,
109
+ 73,
110
+ 74,
111
+ 75,
112
+ 76,
113
+ 77,
114
+ 78,
115
+ 79,
116
+ 80,
117
+ 81,
118
+ 82,
119
+ 83,
120
+ 84,
121
+ 85,
122
+ 86,
123
+ 87,
124
+ 88,
125
+ 89,
126
+ 90,
127
+ 91,
128
+ 92,
129
+ 93,
130
+ 94,
131
+ 95,
132
+ 96,
133
+ 97,
134
+ 98,
135
+ 99,
136
+ 100,
137
+ 101,
138
+ 102,
139
+ 103,
140
+ 104,
141
+ 105,
142
+ 106,
143
+ 107,
144
+ 108,
145
+ 109,
146
+ 110,
147
+ 111,
148
+ 112,
149
+ 113,
150
+ 114,
151
+ 115,
152
+ 116,
153
+ 117,
154
+ 118,
155
+ 119,
156
+ 120,
157
+ 121,
158
+ 122,
159
+ 123,
160
+ 124,
161
+ 125,
162
+ 126,
163
+ 127,
164
+ 128,
165
+ 129,
166
+ 130,
167
+ 131,
168
+ 132,
169
+ 133,
170
+ 134,
171
+ 135,
172
+ 136,
173
+ 137,
174
+ 138,
175
+ 139,
176
+ 140,
177
+ 141,
178
+ 142,
179
+ 143,
180
+ 144,
181
+ 145,
182
+ 146,
183
+ 147,
184
+ 148,
185
+ 149,
186
+ 150,
187
+ 151,
188
+ 152,
189
+ 153,
190
+ 154,
191
+ 155,
192
+ 156,
193
+ 157
194
+ ]
195
+ },
196
+ {
197
+ "weight_decay": 1e-06,
198
+ "lr": 0.0,
199
+ "betas": [
200
+ 0.9,
201
+ 0.95
202
+ ],
203
+ "eps": 1e-08,
204
+ "amsgrad": false,
205
+ "foreach": null,
206
+ "maximize": false,
207
+ "capturable": false,
208
+ "differentiable": false,
209
+ "fused": null,
210
+ "initial_lr": 0.0001,
211
+ "params": [
212
+ 158,
213
+ 159,
214
+ 160,
215
+ 161,
216
+ 162,
217
+ 163,
218
+ 164,
219
+ 165,
220
+ 166,
221
+ 167,
222
+ 168,
223
+ 169,
224
+ 170,
225
+ 171,
226
+ 172,
227
+ 173,
228
+ 174,
229
+ 175,
230
+ 176,
231
+ 177,
232
+ 178,
233
+ 179,
234
+ 180,
235
+ 181,
236
+ 182,
237
+ 183,
238
+ 184,
239
+ 185,
240
+ 186,
241
+ 187,
242
+ 188,
243
+ 189,
244
+ 190,
245
+ 191,
246
+ 192,
247
+ 193,
248
+ 194,
249
+ 195,
250
+ 196,
251
+ 197,
252
+ 198,
253
+ 199,
254
+ 200,
255
+ 201,
256
+ 202,
257
+ 203,
258
+ 204,
259
+ 205,
260
+ 206,
261
+ 207,
262
+ 208,
263
+ 209,
264
+ 210,
265
+ 211,
266
+ 212,
267
+ 213,
268
+ 214,
269
+ 215,
270
+ 216,
271
+ 217,
272
+ 218,
273
+ 219,
274
+ 220,
275
+ 221
276
+ ]
277
+ }
278
+ ]
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6d9d53eb047f88d7531262a3c07096e251e0fad755b519f1d2c2b4fe08e74df4
3
+ size 107727808
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6f7e90fea140b08ff386bcce672ff8cce91d42ea9def59090f7d6a7b54e7100b
3
+ size 15708
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/training_state/scheduler_state.json ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_lrs": [
3
+ 0.0001,
4
+ 0.0001,
5
+ 0.0001
6
+ ],
7
+ "last_epoch": 100000,
8
+ "verbose": false,
9
+ "_step_count": 100001,
10
+ "_get_lr_called_within_step": false,
11
+ "_last_lr": [
12
+ 0.0,
13
+ 0.0,
14
+ 0.0
15
+ ],
16
+ "lr_lambdas": [
17
+ null,
18
+ null,
19
+ null
20
+ ]
21
+ }
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/checkpoints/100000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 100000
3
+ }
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/debug-internal.log ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"time":"2025-09-03T21:28:51.588466681+08:00","level":"INFO","msg":"stream: starting","core version":"0.21.1"}
2
+ {"time":"2025-09-03T21:28:51.711505873+08:00","level":"WARN","msg":"GraphQL client is nil, skipping feature loading"}
3
+ {"time":"2025-09-03T21:28:51.711901204+08:00","level":"INFO","msg":"stream: created new stream","id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
4
+ {"time":"2025-09-03T21:28:51.711930434+08:00","level":"INFO","msg":"stream: started","id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
5
+ {"time":"2025-09-03T21:28:51.711944428+08:00","level":"INFO","msg":"writer: started","stream_id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
6
+ {"time":"2025-09-03T21:28:51.711970455+08:00","level":"INFO","msg":"handler: started","stream_id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
7
+ {"time":"2025-09-03T21:28:51.711953824+08:00","level":"INFO","msg":"sender: started","stream_id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
8
+ {"time":"2025-09-03T21:28:51.712530988+08:00","level":"WARN","msg":"runupserter: server does not expand metric globs but the x_server_side_expand_glob_metrics setting is set; ignoring"}
9
+ {"time":"2025-09-04T12:32:19.296508059+08:00","level":"INFO","msg":"stream: closing","id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
10
+ {"time":"2025-09-04T12:32:19.319579054+08:00","level":"INFO","msg":"handler: closed","stream_id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
11
+ {"time":"2025-09-04T12:32:19.319937943+08:00","level":"INFO","msg":"sender: closed","stream_id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
12
+ {"time":"2025-09-04T12:32:19.320113191+08:00","level":"INFO","msg":"stream: closed","id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/debug.log ADDED
@@ -0,0 +1,22 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2025-09-03 21:28:51,097 INFO MainThread:2877469 [wandb_setup.py:_flush():80] Current SDK version is 0.21.1
2
+ 2025-09-03 21:28:51,097 INFO MainThread:2877469 [wandb_setup.py:_flush():80] Configure stats pid to 2877469
3
+ 2025-09-03 21:28:51,097 INFO MainThread:2877469 [wandb_setup.py:_flush():80] Loading settings from /home-ssd/Users/nsgm_lx/.config/wandb/settings
4
+ 2025-09-03 21:28:51,097 INFO MainThread:2877469 [wandb_setup.py:_flush():80] Loading settings from /home-ssd/Users/nsgm_lx/xiejunlin/ina/lerobot-exp/wandb/settings
5
+ 2025-09-03 21:28:51,097 INFO MainThread:2877469 [wandb_setup.py:_flush():80] Loading settings from environment variables
6
+ 2025-09-03 21:28:51,098 INFO MainThread:2877469 [wandb_init.py:setup_run_log_directory():703] Logging user logs to ina/ckpts/hist_aug/ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/logs/debug.log
7
+ 2025-09-03 21:28:51,098 INFO MainThread:2877469 [wandb_init.py:setup_run_log_directory():704] Logging internal logs to ina/ckpts/hist_aug/ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/logs/debug-internal.log
8
+ 2025-09-03 21:28:51,098 INFO MainThread:2877469 [wandb_init.py:init():830] calling init triggers
9
+ 2025-09-03 21:28:51,098 INFO MainThread:2877469 [wandb_init.py:init():835] wandb.init called with sweep_config: {}
10
+ config: {'dataset': {'repo_id': 'pommespeter/libero_90_no_noops_living_room_add_padding4', 'root': None, 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, '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]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}}}, 'action_transforms': {'enable': True, 'enable_translation': False, 'angle_range': 10.0, 'trans_range': 0.5, 'p': 1.0}, 'revision': None, 'use_imagenet_stats': False, 'video_backend': 'torchcodec'}, 'env': None, 'policy': {'type': 'diffusion', 'n_obs_steps': 2, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>, 'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>}, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'horizon': 16, 'n_action_steps': 16, 'use_robot_state': False, 'use_prev_action': True, 'drop_n_last_frames': 15, 'vision_backbone': 'resnet18', 'image_resize_resolution': [84, 84], 'crop_shape': [84, 84], 'crop_is_random': True, 'pretrained_backbone_weights': None, 'use_group_norm': True, 'spatial_softmax_num_keypoints': 32, 'use_separate_rgb_encoder_per_camera': False, 'down_dims': [512, 1024, 2048], 'kernel_size': 5, 'n_groups': 8, 'use_film_scale_modulation': True, 'use_transformer': True, 'n_layer': 8, 'n_head': 4, 'p_drop_emb': 0.0, 'p_drop_attn': 0.3, 'causal_attn': True, 'n_cond_layers': 0, 'diffusion_step_embed_dim': 128, 'noise_scheduler_type': 'DDPM', 'num_train_timesteps': 100, 'beta_schedule': 'squaredcos_cap_v2', 'beta_start': 0.0001, 'beta_end': 0.02, 'prediction_type': 'epsilon', 'clip_sample': True, 'clip_sample_range': 1.0, 'num_inference_steps': None, 'do_mask_loss_for_padding': False, 'optimizer_lr': 0.0001, 'optimizer_betas': [0.95, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-06, 'scheduler_name': 'cosine', 'scheduler_warmup_steps': 1000}, 'output_dir': 'ina/ckpts/hist_aug/ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded', 'job_name': 'diffusion', 'resume': False, 'seed': 1000, 'num_workers': 24, 'batch_size': 128, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 10000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adam', 'lr': 0.0001, 'weight_decay': 1e-06, 'grad_clip_norm': 10.0, 'betas': [0.95, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 1000, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'ina-libero-living-room-action', 'entity': 'pommespeter', 'notes': None, 'run_id': 'ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded', 'mode': 'offline'}, '_wandb': {}}
11
+ 2025-09-03 21:28:51,098 INFO MainThread:2877469 [wandb_init.py:init():871] starting backend
12
+ 2025-09-03 21:28:51,316 INFO MainThread:2877469 [wandb_init.py:init():874] sending inform_init request
13
+ 2025-09-03 21:28:51,324 INFO MainThread:2877469 [wandb_init.py:init():882] backend started and connected
14
+ 2025-09-03 21:28:51,325 INFO MainThread:2877469 [wandb_init.py:init():953] updated telemetry
15
+ 2025-09-03 21:28:51,340 INFO MainThread:2877469 [wandb_init.py:init():977] communicating run to backend with 90.0 second timeout
16
+ 2025-09-03 21:28:51,714 INFO MainThread:2877469 [wandb_init.py:init():1029] starting run threads in backend
17
+ 2025-09-03 21:28:52,224 INFO MainThread:2877469 [wandb_run.py:_console_start():2494] atexit reg
18
+ 2025-09-03 21:28:52,224 INFO MainThread:2877469 [wandb_run.py:_redirect():2342] redirect: wrap_raw
19
+ 2025-09-03 21:28:52,224 INFO MainThread:2877469 [wandb_run.py:_redirect():2411] Wrapping output streams.
20
+ 2025-09-03 21:28:52,224 INFO MainThread:2877469 [wandb_run.py:_redirect():2434] Redirects installed.
21
+ 2025-09-03 21:28:52,229 INFO MainThread:2877469 [wandb_init.py:init():1075] run started, returning control to user process
22
+ 2025-09-04 12:32:19,248 INFO MsgRouterThr:2877469 [mailbox.py:close():129] [no run ID] Closing mailbox, abandoning 0 handles.
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/files/output.log ADDED
File without changes
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/files/requirements.txt ADDED
@@ -0,0 +1,296 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ multidict==6.6.4
2
+ safetensors==0.6.2
3
+ uvicorn==0.35.0
4
+ tensorflow-io-gcs-filesystem==0.37.1
5
+ grpcio==1.74.0
6
+ rich==14.1.0
7
+ iniconfig==2.1.0
8
+ typing-inspect==0.9.0
9
+ hyperframe==6.1.0
10
+ GitPython==3.1.45
11
+ gpustat==1.1.1
12
+ nvidia-nvjitlink-cu12==12.4.127
13
+ ipdb==0.13.13
14
+ decorator==5.2.1
15
+ evdev==1.9.2
16
+ jupytext==1.17.2
17
+ imageio==2.37.0
18
+ PyYAML==6.0.2
19
+ imageio-ffmpeg==0.6.0
20
+ wrapt==1.14.2
21
+ nvidia-nccl-cu12==2.21.5
22
+ certifi==2025.8.3
23
+ sympy==1.13.1
24
+ aiohappyeyeballs==2.6.1
25
+ rsa==4.9.1
26
+ soupsieve==2.7
27
+ beautifulsoup4==4.13.4
28
+ setuptools==78.1.1
29
+ google-auth-oauthlib==1.2.2
30
+ openvla==0.0.3
31
+ python-dateutil==2.9.0.post0
32
+ parso==0.8.4
33
+ tqdm==4.67.1
34
+ reacton==1.9.1
35
+ typing-inspection==0.4.1
36
+ numpy==1.24.3
37
+ matplotlib-inline==0.1.7
38
+ traitlets==5.14.3
39
+ mergedeep==1.3.4
40
+ av==15.0.0
41
+ tensorboard==2.15.2
42
+ PySocks==1.7.1
43
+ tyro==0.9.28
44
+ watchfiles==1.1.0
45
+ timm==0.9.10
46
+ ml-dtypes==0.2.0
47
+ importlib_resources==6.5.2
48
+ opt_einsum==3.4.0
49
+ bddl==3.6.0
50
+ jedi==0.19.2
51
+ OpenEXR==3.3.5
52
+ nvidia-curand-cu12==10.3.5.147
53
+ sentencepiece==0.1.99
54
+ websockets==15.0.1
55
+ pure_eval==0.2.3
56
+ munkres==1.1.4
57
+ ptyprocess==0.7.0
58
+ peft==0.17.0
59
+ networkx==3.4.2
60
+ networkx==3.3
61
+ mujoco==3.3.5
62
+ contourpy==1.3.2
63
+ attrs==25.3.0
64
+ tensorflow-metadata==1.17.2
65
+ pickleshare==0.7.5
66
+ hf_transfer==0.1.9
67
+ prompt_toolkit==3.0.51
68
+ pycparser==2.22
69
+ joblib==1.5.1
70
+ hf-xet==1.1.8
71
+ json-numpy==2.1.1
72
+ google-pasta==0.2.0
73
+ python-slugify==8.0.4
74
+ nvidia-nvtx-cu12==12.4.127
75
+ solara-ui==1.51.1
76
+ omegaconf==2.3.0
77
+ MarkupSafe==2.1.5
78
+ MarkupSafe==3.0.2
79
+ typing_extensions==4.14.1
80
+ huggingface-hub==0.34.4
81
+ future==1.0.0
82
+ nvidia-cublas-cu12==12.4.5.8
83
+ flatbuffers==25.2.10
84
+ psutil==7.0.0
85
+ nvidia-cuda-runtime-cu12==12.4.127
86
+ sniffio==1.3.1
87
+ nest_asyncio==1.6.0
88
+ smmap==5.0.2
89
+ nvidia-ml-py==13.580.65
90
+ dill==0.3.8
91
+ tensorflow-graphics==2021.12.3
92
+ tomli==2.2.1
93
+ propcache==0.3.2
94
+ sentry-sdk==2.35.0
95
+ accelerate==1.10.0
96
+ cmake==4.1.0
97
+ antlr4-python3-runtime==4.9.3
98
+ pymunk==7.1.0
99
+ docstring_parser==0.17.0
100
+ hpack==4.1.0
101
+ multiprocess==0.70.16
102
+ comm==0.2.3
103
+ PyOpenGL==3.1.10
104
+ lerobot==0.1.0
105
+ toml==0.10.2
106
+ nltk==3.9.1
107
+ mdurl==0.1.2
108
+ tensorflow==2.15.0
109
+ pexpect==4.9.0
110
+ Markdown==3.8.2
111
+ asttokens==3.0.0
112
+ anyio==4.10.0
113
+ tensorflow-datasets==4.9.3
114
+ glfw==2.9.0
115
+ ipython==8.37.0
116
+ cffi==1.17.1
117
+ platformdirs==4.3.8
118
+ zarr==2.18.3
119
+ nvidia-cudnn-cu12==9.1.0.70
120
+ pyparsing==3.2.3
121
+ aiohttp==3.12.15
122
+ easydict==1.13
123
+ cloudpickle==3.1.1
124
+ h11==0.16.0
125
+ gym==0.26.2
126
+ gymnasium==0.29.1
127
+ aiosignal==1.4.0
128
+ kiwisolver==1.4.9
129
+ torch==2.5.1+cu124
130
+ humanize==4.12.3
131
+ fastjsonschema==2.21.2
132
+ stack_data==0.6.3
133
+ transformers==4.40.1
134
+ watchdog==6.0.0
135
+ executing==2.2.0
136
+ idna==3.10
137
+ pip==25.1
138
+ frozenlist==1.7.0
139
+ binaryornot==0.4.4
140
+ astunparse==1.6.3
141
+ triton==3.1.0
142
+ gast==0.6.0
143
+ Werkzeug==3.1.3
144
+ nvidia-cusolver-cu12==11.6.1.9
145
+ zipp==3.23.0
146
+ gym-notices==0.1.0
147
+ Farama-Notifications==0.0.4
148
+ cookiecutter==2.6.0
149
+ fsspec==2024.6.1
150
+ h5py==3.14.0
151
+ tensorboard-data-server==0.7.2
152
+ pydantic_core==2.33.2
153
+ widgetsnbextension==4.0.14
154
+ annotated-types==0.7.0
155
+ llvmlite==0.44.0
156
+ referencing==0.36.2
157
+ opencv-python==4.9.0.80
158
+ datasets==3.6.0
159
+ yarl==1.20.1
160
+ TorchCodec==0.2.1
161
+ pyarrow==21.0.0
162
+ Brotli==1.1.0
163
+ numba==0.61.2
164
+ protobuf==4.21.12
165
+ rpds-py==0.27.0
166
+ jupyter_client==8.6.3
167
+ ipyvuetify==1.11.3
168
+ charset-normalizer==3.4.3
169
+ pynput==1.8.1
170
+ jupyterlab_widgets==3.0.15
171
+ jsonlines==4.0.0
172
+ tzdata==2025.2
173
+ regex==2025.7.34
174
+ Mesa==2.4.0
175
+ einops==0.8.1
176
+ starlette==0.47.2
177
+ fonttools==4.59.1
178
+ pydantic==2.11.7
179
+ pfzy==0.3.4
180
+ torchvision==0.20.1+cu124
181
+ asciitree==0.3.3
182
+ types-python-dateutil==2.9.0.20250822
183
+ blinker==1.9.0
184
+ wheel==0.45.1
185
+ importlib_metadata==8.7.0
186
+ click==8.2.1
187
+ filelock==3.19.1
188
+ filelock==3.13.1
189
+ mpmath==1.3.0
190
+ packaging==25.0
191
+ itsdangerous==2.2.0
192
+ array_record==0.8.1
193
+ trimesh==4.7.4
194
+ ipywidgets==8.1.7
195
+ markdown-it-py==4.0.0
196
+ colorama==0.4.6
197
+ tornado==6.5.2
198
+ cachetools==5.5.2
199
+ cachetools==6.1.0
200
+ pyyaml-include==1.4.1
201
+ chardet==5.2.0
202
+ urllib3==2.5.0
203
+ keras==2.15.0
204
+ matplotlib==3.10.5
205
+ dm-tree==0.1.9
206
+ draccus==0.10.0
207
+ xxhash==3.5.0
208
+ numcodecs==0.13.1
209
+ pillow==11.3.0
210
+ pillow==11.0.0
211
+ tokenizers==0.19.1
212
+ diffusers==0.35.1
213
+ libclang==18.1.1
214
+ arrow==1.3.0
215
+ pytz==2025.2
216
+ mdit-py-plugins==0.5.0
217
+ blessed==1.21.0
218
+ nvidia-cufft-cu12==11.2.1.3
219
+ nbformat==5.10.4
220
+ scipy==1.15.3
221
+ Flask==3.1.2
222
+ tensorflow-estimator==2.15.0
223
+ debugpy==1.8.16
224
+ termcolor==3.1.0
225
+ nvidia-cuda-nvrtc-cu12==12.4.127
226
+ deepdiff==8.6.0
227
+ google-auth==2.40.3
228
+ pymdown-extensions==10.16.1
229
+ solara-server==1.51.1
230
+ nvidia-cuda-cupti-cu12==12.4.127
231
+ Jinja2==3.1.6
232
+ Jinja2==3.1.4
233
+ h2==4.2.0
234
+ python-xlib==0.33
235
+ absl-py==2.3.1
236
+ pandas==2.3.2
237
+ cycler==0.12.1
238
+ dlimp==0.0.1
239
+ fasteners==0.20
240
+ nvidia-cusparse-cu12==12.3.1.170
241
+ ipykernel==6.30.1
242
+ tensorflow-addons==0.23.0
243
+ text-unidecode==1.3
244
+ pyasn1_modules==0.4.2
245
+ rerun-sdk==0.21.0
246
+ solara==1.51.1
247
+ oauthlib==3.3.1
248
+ exceptiongroup==1.3.0
249
+ opencv-python-headless==4.9.0.80
250
+ ipyvue==1.11.2
251
+ shtab==1.7.2
252
+ six==1.17.0
253
+ mypy_extensions==1.1.0
254
+ inquirerpy==0.3.4
255
+ zstandard==0.23.0
256
+ promise==2.3
257
+ wandb==0.21.1
258
+ etils==1.13.0
259
+ async-timeout==5.0.1
260
+ rich-click==1.8.9
261
+ jsonschema-specifications==2025.4.1
262
+ unicodedata2==16.0.0
263
+ gdown==5.2.0
264
+ jupyter_core==5.8.1
265
+ Mesa-Viz-Tornado==0.1.3
266
+ jsonschema==4.25.1
267
+ torchaudio==2.5.1+cu124
268
+ gitdb==4.0.12
269
+ pluggy==1.6.0
270
+ requests-oauthlib==2.0.0
271
+ wcwidth==0.2.13
272
+ pyzmq==27.0.2
273
+ requests==2.32.5
274
+ typeguard==4.4.4
275
+ robosuite==1.4.0
276
+ orderly-set==5.5.0
277
+ Pygments==2.19.2
278
+ pyasn1==0.6.1
279
+ pytest==8.4.1
280
+ libero==0.1.0
281
+ jaraco.text==3.12.1
282
+ autocommand==2.2.2
283
+ importlib_metadata==8.0.0
284
+ jaraco.context==5.3.0
285
+ platformdirs==4.2.2
286
+ zipp==3.19.2
287
+ packaging==24.2
288
+ tomli==2.0.1
289
+ wheel==0.45.1
290
+ typing_extensions==4.12.2
291
+ more-itertools==10.3.0
292
+ jaraco.collections==5.1.0
293
+ jaraco.functools==4.0.1
294
+ inflect==7.3.1
295
+ typeguard==4.3.0
296
+ backports.tarfile==1.2.0
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/logs/debug-core.log ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"time":"2025-09-03T21:28:51.156825323+08:00","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpvz9esq2s/port-2877469.txt","pid":2877469,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
2
+ {"time":"2025-09-03T21:28:51.157265006+08:00","level":"INFO","msg":"server: will exit if parent process dies","ppid":2877469}
3
+ {"time":"2025-09-03T21:28:51.157256497+08:00","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-2877469-2877569-1208929317/socket","Net":"unix"}}
4
+ {"time":"2025-09-03T21:28:51.315659752+08:00","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
5
+ {"time":"2025-09-03T21:28:51.325231912+08:00","level":"INFO","msg":"handleInformInit: received","streamId":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded","id":"1(@)"}
6
+ {"time":"2025-09-03T21:28:51.711939342+08:00","level":"INFO","msg":"handleInformInit: stream started","streamId":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded","id":"1(@)"}
7
+ {"time":"2025-09-04T12:32:19.285705761+08:00","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"1(@)"}
8
+ {"time":"2025-09-04T12:32:19.293308236+08:00","level":"INFO","msg":"server is shutting down"}
9
+ {"time":"2025-09-04T12:32:19.293309469+08:00","level":"INFO","msg":"connection: closing","id":"1(@)"}
10
+ {"time":"2025-09-04T12:32:19.295872418+08:00","level":"INFO","msg":"connection: closed successfully","id":"1(@)"}
11
+ {"time":"2025-09-04T12:32:19.299023107+08:00","level":"INFO","msg":"server: listener closed","addr":{"Name":"/tmp/wandb-2877469-2877569-1208929317/socket","Net":"unix"}}
12
+ {"time":"2025-09-04T12:32:19.322354259+08:00","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"1(@)"}
13
+ {"time":"2025-09-04T12:32:19.323153222+08:00","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"1(@)"}
14
+ {"time":"2025-09-04T12:32:19.323498117+08:00","level":"INFO","msg":"server is closed"}
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/logs/debug-internal.log ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"time":"2025-09-03T21:28:51.588466681+08:00","level":"INFO","msg":"stream: starting","core version":"0.21.1"}
2
+ {"time":"2025-09-03T21:28:51.711505873+08:00","level":"WARN","msg":"GraphQL client is nil, skipping feature loading"}
3
+ {"time":"2025-09-03T21:28:51.711901204+08:00","level":"INFO","msg":"stream: created new stream","id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
4
+ {"time":"2025-09-03T21:28:51.711930434+08:00","level":"INFO","msg":"stream: started","id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
5
+ {"time":"2025-09-03T21:28:51.711944428+08:00","level":"INFO","msg":"writer: started","stream_id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
6
+ {"time":"2025-09-03T21:28:51.711970455+08:00","level":"INFO","msg":"handler: started","stream_id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
7
+ {"time":"2025-09-03T21:28:51.711953824+08:00","level":"INFO","msg":"sender: started","stream_id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
8
+ {"time":"2025-09-03T21:28:51.712530988+08:00","level":"WARN","msg":"runupserter: server does not expand metric globs but the x_server_side_expand_glob_metrics setting is set; ignoring"}
9
+ {"time":"2025-09-04T12:32:19.296508059+08:00","level":"INFO","msg":"stream: closing","id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
10
+ {"time":"2025-09-04T12:32:19.319579054+08:00","level":"INFO","msg":"handler: closed","stream_id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
11
+ {"time":"2025-09-04T12:32:19.319937943+08:00","level":"INFO","msg":"sender: closed","stream_id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
12
+ {"time":"2025-09-04T12:32:19.320113191+08:00","level":"INFO","msg":"stream: closed","id":"ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded"}
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/logs/debug.log ADDED
@@ -0,0 +1,22 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2025-09-03 21:28:51,097 INFO MainThread:2877469 [wandb_setup.py:_flush():80] Current SDK version is 0.21.1
2
+ 2025-09-03 21:28:51,097 INFO MainThread:2877469 [wandb_setup.py:_flush():80] Configure stats pid to 2877469
3
+ 2025-09-03 21:28:51,097 INFO MainThread:2877469 [wandb_setup.py:_flush():80] Loading settings from /home-ssd/Users/nsgm_lx/.config/wandb/settings
4
+ 2025-09-03 21:28:51,097 INFO MainThread:2877469 [wandb_setup.py:_flush():80] Loading settings from /home-ssd/Users/nsgm_lx/xiejunlin/ina/lerobot-exp/wandb/settings
5
+ 2025-09-03 21:28:51,097 INFO MainThread:2877469 [wandb_setup.py:_flush():80] Loading settings from environment variables
6
+ 2025-09-03 21:28:51,098 INFO MainThread:2877469 [wandb_init.py:setup_run_log_directory():703] Logging user logs to ina/ckpts/hist_aug/ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/logs/debug.log
7
+ 2025-09-03 21:28:51,098 INFO MainThread:2877469 [wandb_init.py:setup_run_log_directory():704] Logging internal logs to ina/ckpts/hist_aug/ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/logs/debug-internal.log
8
+ 2025-09-03 21:28:51,098 INFO MainThread:2877469 [wandb_init.py:init():830] calling init triggers
9
+ 2025-09-03 21:28:51,098 INFO MainThread:2877469 [wandb_init.py:init():835] wandb.init called with sweep_config: {}
10
+ config: {'dataset': {'repo_id': 'pommespeter/libero_90_no_noops_living_room_add_padding4', 'root': None, 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, '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]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}}}, 'action_transforms': {'enable': True, 'enable_translation': False, 'angle_range': 10.0, 'trans_range': 0.5, 'p': 1.0}, 'revision': None, 'use_imagenet_stats': False, 'video_backend': 'torchcodec'}, 'env': None, 'policy': {'type': 'diffusion', 'n_obs_steps': 2, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>, 'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>}, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'horizon': 16, 'n_action_steps': 16, 'use_robot_state': False, 'use_prev_action': True, 'drop_n_last_frames': 15, 'vision_backbone': 'resnet18', 'image_resize_resolution': [84, 84], 'crop_shape': [84, 84], 'crop_is_random': True, 'pretrained_backbone_weights': None, 'use_group_norm': True, 'spatial_softmax_num_keypoints': 32, 'use_separate_rgb_encoder_per_camera': False, 'down_dims': [512, 1024, 2048], 'kernel_size': 5, 'n_groups': 8, 'use_film_scale_modulation': True, 'use_transformer': True, 'n_layer': 8, 'n_head': 4, 'p_drop_emb': 0.0, 'p_drop_attn': 0.3, 'causal_attn': True, 'n_cond_layers': 0, 'diffusion_step_embed_dim': 128, 'noise_scheduler_type': 'DDPM', 'num_train_timesteps': 100, 'beta_schedule': 'squaredcos_cap_v2', 'beta_start': 0.0001, 'beta_end': 0.02, 'prediction_type': 'epsilon', 'clip_sample': True, 'clip_sample_range': 1.0, 'num_inference_steps': None, 'do_mask_loss_for_padding': False, 'optimizer_lr': 0.0001, 'optimizer_betas': [0.95, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-06, 'scheduler_name': 'cosine', 'scheduler_warmup_steps': 1000}, 'output_dir': 'ina/ckpts/hist_aug/ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded', 'job_name': 'diffusion', 'resume': False, 'seed': 1000, 'num_workers': 24, 'batch_size': 128, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 10000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adam', 'lr': 0.0001, 'weight_decay': 1e-06, 'grad_clip_norm': 10.0, 'betas': [0.95, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 1000, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'ina-libero-living-room-action', 'entity': 'pommespeter', 'notes': None, 'run_id': 'ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded', 'mode': 'offline'}, '_wandb': {}}
11
+ 2025-09-03 21:28:51,098 INFO MainThread:2877469 [wandb_init.py:init():871] starting backend
12
+ 2025-09-03 21:28:51,316 INFO MainThread:2877469 [wandb_init.py:init():874] sending inform_init request
13
+ 2025-09-03 21:28:51,324 INFO MainThread:2877469 [wandb_init.py:init():882] backend started and connected
14
+ 2025-09-03 21:28:51,325 INFO MainThread:2877469 [wandb_init.py:init():953] updated telemetry
15
+ 2025-09-03 21:28:51,340 INFO MainThread:2877469 [wandb_init.py:init():977] communicating run to backend with 90.0 second timeout
16
+ 2025-09-03 21:28:51,714 INFO MainThread:2877469 [wandb_init.py:init():1029] starting run threads in backend
17
+ 2025-09-03 21:28:52,224 INFO MainThread:2877469 [wandb_run.py:_console_start():2494] atexit reg
18
+ 2025-09-03 21:28:52,224 INFO MainThread:2877469 [wandb_run.py:_redirect():2342] redirect: wrap_raw
19
+ 2025-09-03 21:28:52,224 INFO MainThread:2877469 [wandb_run.py:_redirect():2411] Wrapping output streams.
20
+ 2025-09-03 21:28:52,224 INFO MainThread:2877469 [wandb_run.py:_redirect():2434] Redirects installed.
21
+ 2025-09-03 21:28:52,229 INFO MainThread:2877469 [wandb_init.py:init():1075] run started, returning control to user process
22
+ 2025-09-04 12:32:19,248 INFO MsgRouterThr:2877469 [mailbox.py:close():129] [no run ID] Closing mailbox, abandoning 0 handles.
ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/wandb/offline-run-20250903_212851-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded/run-ina_dp_transformer-libero_90_living_room_scene_pick_black_bowl_To2_Tp16_prev_action4_trans0.5_p1.0_aug_x_trans_100000_gap_padded.wandb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5591313d24178c46dde7e836d776ea1e1d5bd78f08a6aae2883e2fd25f24f4a4
3
+ size 3721341