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train/act_dice_art_run1/wandb/run-20250614_200951-fhdgxxjz/files/output.log

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+INFO 2025-06-14 20:09:52 db_utils.py:103 Track this run --> https://wandb.ai/ametind-o/lerobot/runs/fhdgxxjz
+INFO 2025-06-14 20:09:52 ts/train.py:127 Creating dataset
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+INFO 2025-06-14 20:09:53 ts/train.py:144 Creating optimizer and scheduler
+INFO 2025-06-14 20:09:53 ts/train.py:156 Output dir: outputs/train/act_dice_art_run1
+INFO 2025-06-14 20:09:53 ts/train.py:159 cfg.steps=100000 (100K)
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+INFO 2025-06-14 20:34:04 ts/train.py:241 Checkpoint policy after step 20000
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+INFO 2025-06-14 20:38:30 ts/train.py:232 step:24K smpl:189K ep:757 epch:84.14 loss:0.089 grdn:11.247 lr:1.0e-05 updt_s:0.072 data_s:0.000
+INFO 2025-06-14 20:38:45 ts/train.py:232 step:24K smpl:190K ep:764 epch:84.85 loss:0.087 grdn:11.122 lr:1.0e-05 updt_s:0.073 data_s:0.002
+INFO 2025-06-14 20:39:00 ts/train.py:232 step:24K smpl:192K ep:770 epch:85.56 loss:0.089 grdn:11.528 lr:1.0e-05 updt_s:0.072 data_s:0.002
+INFO 2025-06-14 20:39:15 ts/train.py:232 step:24K smpl:194K ep:776 epch:86.27 loss:0.088 grdn:12.144 lr:1.0e-05 updt_s:0.072 data_s:0.002
+INFO 2025-06-14 20:39:29 ts/train.py:232 step:24K smpl:195K ep:783 epch:86.99 loss:0.086 grdn:10.970 lr:1.0e-05 updt_s:0.072 data_s:0.000
+INFO 2025-06-14 20:39:44 ts/train.py:232 step:25K smpl:197K ep:789 epch:87.70 loss:0.086 grdn:11.029 lr:1.0e-05 updt_s:0.072 data_s:0.002
+INFO 2025-06-14 20:39:59 ts/train.py:232 step:25K smpl:198K ep:796 epch:88.41 loss:0.086 grdn:11.238 lr:1.0e-05 updt_s:0.071 data_s:0.002
+INFO 2025-06-14 20:40:13 ts/train.py:232 step:25K smpl:200K ep:802 epch:89.13 loss:0.086 grdn:10.944 lr:1.0e-05 updt_s:0.072 data_s:0.000
+INFO 2025-06-14 20:40:28 ts/train.py:232 step:25K smpl:202K ep:809 epch:89.84 loss:0.085 grdn:11.207 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:40:42 ts/train.py:232 step:25K smpl:203K ep:815 epch:90.55 loss:0.086 grdn:11.160 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:40:56 ts/train.py:232 step:26K smpl:205K ep:821 epch:91.27 loss:0.085 grdn:11.252 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:41:10 ts/train.py:232 step:26K smpl:206K ep:828 epch:91.98 loss:0.082 grdn:10.840 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:41:25 ts/train.py:232 step:26K smpl:208K ep:834 epch:92.69 loss:0.084 grdn:10.840 lr:1.0e-05 updt_s:0.070 data_s:0.001
+INFO 2025-06-14 20:41:39 ts/train.py:232 step:26K smpl:210K ep:841 epch:93.40 loss:0.081 grdn:11.170 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:41:53 ts/train.py:232 step:26K smpl:211K ep:847 epch:94.12 loss:0.083 grdn:10.977 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:42:08 ts/train.py:232 step:27K smpl:213K ep:853 epch:94.83 loss:0.083 grdn:11.122 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:42:22 ts/train.py:232 step:27K smpl:214K ep:860 epch:95.54 loss:0.082 grdn:10.623 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:42:36 ts/train.py:232 step:27K smpl:216K ep:866 epch:96.26 loss:0.081 grdn:10.906 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:42:51 ts/train.py:232 step:27K smpl:218K ep:873 epch:96.97 loss:0.079 grdn:10.305 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:43:05 ts/train.py:232 step:27K smpl:219K ep:879 epch:97.68 loss:0.080 grdn:10.587 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:43:19 ts/train.py:232 step:28K smpl:221K ep:886 epch:98.40 loss:0.078 grdn:9.818 lr:1.0e-05 updt_s:0.070 data_s:0.001
+INFO 2025-06-14 20:43:33 ts/train.py:232 step:28K smpl:222K ep:892 epch:99.11 loss:0.081 grdn:10.856 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:43:48 ts/train.py:232 step:28K smpl:224K ep:898 epch:99.82 loss:0.079 grdn:10.619 lr:1.0e-05 updt_s:0.070 data_s:0.001
+INFO 2025-06-14 20:44:02 ts/train.py:232 step:28K smpl:226K ep:905 epch:100.53 loss:0.078 grdn:10.213 lr:1.0e-05 updt_s:0.070 data_s:0.001
+INFO 2025-06-14 20:44:16 ts/train.py:232 step:28K smpl:227K ep:911 epch:101.25 loss:0.078 grdn:10.132 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:44:31 ts/train.py:232 step:29K smpl:229K ep:918 epch:101.96 loss:0.078 grdn:10.275 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:44:45 ts/train.py:232 step:29K smpl:230K ep:924 epch:102.67 loss:0.076 grdn:9.912 lr:1.0e-05 updt_s:0.070 data_s:0.001
+INFO 2025-06-14 20:44:59 ts/train.py:232 step:29K smpl:232K ep:930 epch:103.39 loss:0.077 grdn:9.954 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:45:13 ts/train.py:232 step:29K smpl:234K ep:937 epch:104.10 loss:0.076 grdn:9.673 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:45:28 ts/train.py:232 step:29K smpl:235K ep:943 epch:104.81 loss:0.075 grdn:9.531 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:45:42 ts/train.py:232 step:30K smpl:237K ep:950 epch:105.53 loss:0.076 grdn:10.207 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:45:56 ts/train.py:232 step:30K smpl:238K ep:956 epch:106.24 loss:0.076 grdn:9.426 lr:1.0e-05 updt_s:0.069 data_s:0.001
+INFO 2025-06-14 20:46:10 ts/train.py:232 step:30K smpl:240K ep:963 epch:106.95 loss:0.076 grdn:10.054 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:46:25 ts/train.py:232 step:30K smpl:242K ep:969 epch:107.66 loss:0.076 grdn:9.912 lr:1.0e-05 updt_s:0.071 data_s:0.002
+INFO 2025-06-14 20:46:39 ts/train.py:232 step:30K smpl:243K ep:975 epch:108.38 loss:0.074 grdn:9.162 lr:1.0e-05 updt_s:0.071 data_s:0.001
+INFO 2025-06-14 20:46:54 ts/train.py:232 step:31K smpl:245K ep:982 epch:109.09 loss:0.074 grdn:10.086 lr:1.0e-05 updt_s:0.071 data_s:0.000
+INFO 2025-06-14 20:47:08 ts/train.py:232 step:31K smpl:246K ep:988 epch:109.80 loss:0.073 grdn:9.689 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:47:23 ts/train.py:232 step:31K smpl:248K ep:995 epch:110.52 loss:0.074 grdn:9.903 lr:1.0e-05 updt_s:0.071 data_s:0.002
+INFO 2025-06-14 20:47:37 ts/train.py:232 step:31K smpl:250K ep:1K epch:111.23 loss:0.072 grdn:9.448 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:47:51 ts/train.py:232 step:31K smpl:251K ep:1K epch:111.94 loss:0.073 grdn:9.866 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:48:06 ts/train.py:232 step:32K smpl:253K ep:1K epch:112.66 loss:0.073 grdn:9.879 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:48:20 ts/train.py:232 step:32K smpl:254K ep:1K epch:113.37 loss:0.072 grdn:9.268 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:48:35 ts/train.py:232 step:32K smpl:256K ep:1K epch:114.08 loss:0.072 grdn:9.532 lr:1.0e-05 updt_s:0.071 data_s:0.000
+INFO 2025-06-14 20:48:49 ts/train.py:232 step:32K smpl:258K ep:1K epch:114.80 loss:0.071 grdn:9.071 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:49:03 ts/train.py:232 step:32K smpl:259K ep:1K epch:115.51 loss:0.071 grdn:9.304 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:49:18 ts/train.py:232 step:33K smpl:261K ep:1K epch:116.22 loss:0.071 grdn:9.134 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:49:32 ts/train.py:232 step:33K smpl:262K ep:1K epch:116.93 loss:0.071 grdn:9.155 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:49:46 ts/train.py:232 step:33K smpl:264K ep:1K epch:117.65 loss:0.071 grdn:9.559 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:50:01 ts/train.py:232 step:33K smpl:266K ep:1K epch:118.36 loss:0.071 grdn:9.151 lr:1.0e-05 updt_s:0.071 data_s:0.002
+INFO 2025-06-14 20:50:15 ts/train.py:232 step:33K smpl:267K ep:1K epch:119.07 loss:0.071 grdn:9.337 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:50:29 ts/train.py:232 step:34K smpl:269K ep:1K epch:119.79 loss:0.070 grdn:8.993 lr:1.0e-05 updt_s:0.070 data_s:0.001
+INFO 2025-06-14 20:50:44 ts/train.py:232 step:34K smpl:270K ep:1K epch:120.50 loss:0.069 grdn:9.001 lr:1.0e-05 updt_s:0.071 data_s:0.002
+INFO 2025-06-14 20:50:58 ts/train.py:232 step:34K smpl:272K ep:1K epch:121.21 loss:0.068 grdn:9.136 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:51:13 ts/train.py:232 step:34K smpl:274K ep:1K epch:121.93 loss:0.068 grdn:9.193 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:51:27 ts/train.py:232 step:34K smpl:275K ep:1K epch:122.64 loss:0.069 grdn:9.335 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:51:42 ts/train.py:232 step:35K smpl:277K ep:1K epch:123.35 loss:0.068 grdn:9.611 lr:1.0e-05 updt_s:0.071 data_s:0.002
+INFO 2025-06-14 20:51:56 ts/train.py:232 step:35K smpl:278K ep:1K epch:124.06 loss:0.068 grdn:9.089 lr:1.0e-05 updt_s:0.069 data_s:0.000
+INFO 2025-06-14 20:52:10 ts/train.py:232 step:35K smpl:280K ep:1K epch:124.78 loss:0.068 grdn:9.464 lr:1.0e-05 updt_s:0.070 data_s:0.001
+INFO 2025-06-14 20:52:24 ts/train.py:232 step:35K smpl:282K ep:1K epch:125.49 loss:0.068 grdn:8.916 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:52:38 ts/train.py:232 step:35K smpl:283K ep:1K epch:126.20 loss:0.067 grdn:8.464 lr:1.0e-05 updt_s:0.069 data_s:0.000
+INFO 2025-06-14 20:52:52 ts/train.py:232 step:36K smpl:285K ep:1K epch:126.92 loss:0.067 grdn:9.242 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:53:07 ts/train.py:232 step:36K smpl:286K ep:1K epch:127.63 loss:0.068 grdn:8.885 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:53:21 ts/train.py:232 step:36K smpl:288K ep:1K epch:128.34 loss:0.065 grdn:8.411 lr:1.0e-05 updt_s:0.069 data_s:0.001
+INFO 2025-06-14 20:53:35 ts/train.py:232 step:36K smpl:290K ep:1K epch:129.06 loss:0.065 grdn:9.023 lr:1.0e-05 updt_s:0.069 data_s:0.000
+INFO 2025-06-14 20:53:49 ts/train.py:232 step:36K smpl:291K ep:1K epch:129.77 loss:0.066 grdn:8.840 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:54:04 ts/train.py:232 step:37K smpl:293K ep:1K epch:130.48 loss:0.065 grdn:8.796 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:54:18 ts/train.py:232 step:37K smpl:294K ep:1K epch:131.19 loss:0.066 grdn:9.151 lr:1.0e-05 updt_s:0.069 data_s:0.000
+INFO 2025-06-14 20:54:32 ts/train.py:232 step:37K smpl:296K ep:1K epch:131.91 loss:0.065 grdn:8.574 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:54:46 ts/train.py:232 step:37K smpl:298K ep:1K epch:132.62 loss:0.065 grdn:8.830 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:55:00 ts/train.py:232 step:37K smpl:299K ep:1K epch:133.33 loss:0.064 grdn:8.787 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:55:14 ts/train.py:232 step:38K smpl:301K ep:1K epch:134.05 loss:0.066 grdn:8.757 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:55:29 ts/train.py:232 step:38K smpl:302K ep:1K epch:134.76 loss:0.064 grdn:8.601 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:55:43 ts/train.py:232 step:38K smpl:304K ep:1K epch:135.47 loss:0.064 grdn:8.619 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:55:57 ts/train.py:232 step:38K smpl:306K ep:1K epch:136.19 loss:0.064 grdn:8.578 lr:1.0e-05 updt_s:0.069 data_s:0.000
+INFO 2025-06-14 20:56:11 ts/train.py:232 step:38K smpl:307K ep:1K epch:136.90 loss:0.064 grdn:8.725 lr:1.0e-05 updt_s:0.070 data_s:0.001
+INFO 2025-06-14 20:56:26 ts/train.py:232 step:39K smpl:309K ep:1K epch:137.61 loss:0.064 grdn:8.557 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:56:40 ts/train.py:232 step:39K smpl:310K ep:1K epch:138.32 loss:0.064 grdn:8.590 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:56:54 ts/train.py:232 step:39K smpl:312K ep:1K epch:139.04 loss:0.063 grdn:8.656 lr:1.0e-05 updt_s:0.069 data_s:0.000
+INFO 2025-06-14 20:57:08 ts/train.py:232 step:39K smpl:314K ep:1K epch:139.75 loss:0.063 grdn:8.554 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:57:22 ts/train.py:232 step:39K smpl:315K ep:1K epch:140.46 loss:0.061 grdn:7.760 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 20:57:36 ts/train.py:232 step:40K smpl:317K ep:1K epch:141.18 loss:0.062 grdn:8.565 lr:1.0e-05 updt_s:0.069 data_s:0.000
+INFO 2025-06-14 20:57:51 ts/train.py:232 step:40K smpl:318K ep:1K epch:141.89 loss:0.064 grdn:8.273 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:58:05 ts/train.py:232 step:40K smpl:320K ep:1K epch:142.60 loss:0.062 grdn:8.144 lr:1.0e-05 updt_s:0.069 data_s:0.001
+INFO 2025-06-14 20:58:05 ts/train.py:241 Checkpoint policy after step 40000
+INFO 2025-06-14 20:58:20 ts/train.py:232 step:40K smpl:322K ep:1K epch:143.32 loss:0.063 grdn:8.797 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:58:35 ts/train.py:232 step:40K smpl:323K ep:1K epch:144.03 loss:0.061 grdn:8.157 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-14 20:58:49 ts/train.py:232 step:41K smpl:325K ep:1K epch:144.74 loss:0.063 grdn:8.521 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:59:03 ts/train.py:232 step:41K smpl:326K ep:1K epch:145.45 loss:0.062 grdn:8.052 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 20:59:17 ts/train.py:232 step:41K smpl:328K ep:1K epch:146.17 loss:0.060 grdn:8.172 lr:1.0e-05 updt_s:0.069 data_s:0.000
+INFO 2025-06-14 20:59:31 ts/train.py:232 step:41K smpl:330K ep:1K epch:146.88 loss:0.061 grdn:8.706 lr:1.0e-05 updt_s:0.069 data_s:0.001
+INFO 2025-06-14 20:59:46 ts/train.py:232 step:41K smpl:331K ep:1K epch:147.59 loss:0.062 grdn:8.565 lr:1.0e-05 updt_s:0.070 data_s:0.002
+INFO 2025-06-14 21:00:00 ts/train.py:232 step:42K smpl:333K ep:1K epch:148.31 loss:0.060 grdn:8.123 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 21:00:14 ts/train.py:232 step:42K smpl:334K ep:1K epch:149.02 loss:0.060 grdn:8.211 lr:1.0e-05 updt_s:0.069 data_s:0.000
+INFO 2025-06-14 21:00:28 ts/train.py:232 step:42K smpl:336K ep:1K epch:149.73 loss:0.062 grdn:8.367 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-14 21:00:43 ts/train.py:232 step:42K smpl:338K ep:1K epch:150.45 loss:0.060 grdn:8.225 lr:1.0e-05 updt_s:0.073 data_s:0.002
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/scripts/train.py", line 288, in <module>
+    train()
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/configs/parser.py", line 226, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/scripts/train.py", line 212, in train
+    train_tracker, output_dict = update_policy(
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/scripts/train.py", line 71, in update_policy
+    loss, output_dict = policy.forward(batch)
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/common/policies/act/modeling_act.py", line 153, in forward
+    actions_hat, (mu_hat, log_sigma_x2_hat) = self.model(batch)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
+    return self._call_impl(*args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
+    return forward_call(*args, **kwargs)
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/common/policies/act/modeling_act.py", line 452, in forward
+    cls_token_out = self.vae_encoder(
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
+    return self._call_impl(*args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
+    return forward_call(*args, **kwargs)
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/common/policies/act/modeling_act.py", line 546, in forward
+    x = layer(x, pos_embed=pos_embed, key_padding_mask=key_padding_mask)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
+    return self._call_impl(*args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
+    return forward_call(*args, **kwargs)
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/common/policies/act/modeling_act.py", line 584, in forward
+    x = skip + self.dropout2(x)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
+    return self._call_impl(*args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
+    return forward_call(*args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/dropout.py", line 70, in forward
+    return F.dropout(input, self.p, self.training, self.inplace)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/functional.py", line 1425, in dropout
+    _VF.dropout_(input, p, training) if inplace else _VF.dropout(input, p, training)
+KeyboardInterrupt
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/scripts/train.py", line 288, in <module>
+    train()
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/configs/parser.py", line 226, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/scripts/train.py", line 212, in train
+    train_tracker, output_dict = update_policy(
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/scripts/train.py", line 71, in update_policy
+    loss, output_dict = policy.forward(batch)
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/common/policies/act/modeling_act.py", line 153, in forward
+    actions_hat, (mu_hat, log_sigma_x2_hat) = self.model(batch)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
+    return self._call_impl(*args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
+    return forward_call(*args, **kwargs)
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/common/policies/act/modeling_act.py", line 452, in forward
+    cls_token_out = self.vae_encoder(
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
+    return self._call_impl(*args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
+    return forward_call(*args, **kwargs)
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/common/policies/act/modeling_act.py", line 546, in forward
+    x = layer(x, pos_embed=pos_embed, key_padding_mask=key_padding_mask)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
+    return self._call_impl(*args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
+    return forward_call(*args, **kwargs)
+  File "/home/hshi-j-4090/Desktop/SO-ARM-Art/lerobot/lerobot/common/policies/act/modeling_act.py", line 584, in forward
+    x = skip + self.dropout2(x)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
+    return self._call_impl(*args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
+    return forward_call(*args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/dropout.py", line 70, in forward
+    return F.dropout(input, self.p, self.training, self.inplace)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/nn/functional.py", line 1425, in dropout
+    _VF.dropout_(input, p, training) if inplace else _VF.dropout(input, p, training)
+KeyboardInterrupt

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+2025-06-14 20:09:52,193 INFO    MainThread:11388 [wandb_init.py:init():1078] run started, returning control to user process
+2025-06-14 21:00:51,298 INFO    MsgRouterThr:11388 [mailbox.py:close():129] [no run ID] Closing mailbox, abandoning 1 handles.
+2025-06-14 21:00:51,942 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,946 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,946 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,948 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,949 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,950 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,950 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,950 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,951 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,951 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,952 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,952 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,953 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,954 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,955 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,955 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,955 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,956 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,957 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,957 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,957 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,958 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,959 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,959 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,959 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,960 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,960 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,960 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,961 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,961 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,961 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe
+2025-06-14 21:00:51,961 ERROR   MainThread:11388 [redirect.py:_on_write():664] [no run ID] error in stderr callback
+Traceback (most recent call last):
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/redirect.py", line 662, in _on_write
+    cb(written_data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 2380, in <lambda>
+    lambda data: self._console_raw_callback("stderr", data),
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 391, in wrapper
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 449, in wrapper_fn
+    return func(self, *args, **kwargs)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/wandb_run.py", line 1561, in _console_raw_callback
+    self._backend.interface.publish_output_raw(name, data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface.py", line 772, in publish_output_raw
+    self._publish_output_raw(o)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_shared.py", line 38, in _publish_output_raw
+    self._publish(rec)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/interface/interface_sock.py", line 39, in _publish
+    self._sock_client.send_record_publish(record)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 174, in send_record_publish
+    self.send_server_request(server_req)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 154, in send_server_request
+    self._send_message(msg)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 151, in _send_message
+    self._sendall_with_error_handle(header + data)
+  File "/home/hshi-j-4090/miniconda3/envs/lerobot/lib/python3.10/site-packages/wandb/sdk/lib/sock_client.py", line 130, in _sendall_with_error_handle
+    sent = self._sock.send(data)
+BrokenPipeError: [Errno 32] Broken pipe

train/act_dice_art_run1/wandb/run-20250614_200951-fhdgxxjz/run-fhdgxxjz.wandb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72581254d769e402eaf31adb31ea26d538f83dc36f07ad52a2b7d640ed4eec45
+size 425984

train/act_dice_art_run1/wandb/run-20250615_012525-fhdgxxjz/files/config.yaml

@@ -0,0 +1,186 @@
+_wandb:
+    value:
+        cli_version: 0.20.1
+        m: []
+        python_version: 3.10.13
+        t:
+            "1":
+                - 1
+                - 41
+                - 49
+                - 51
+                - 105
+            "2":
+                - 1
+                - 41
+                - 49
+                - 51
+                - 105
+            "3":
+                - 5
+                - 13
+                - 14
+                - 15
+                - 16
+                - 55
+                - 61
+                - 62
+            "4": 3.10.13
+            "5": 0.20.1
+            "10":
+                - 21
+            "12": 0.20.1
+            "13": linux-x86_64
+batch_size:
+    value: 8
+dataset:
+    value:
+        episodes: null
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
+            random_order: false
+            tfs:
+                brightness:
+                    kwargs:
+                        brightness:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                contrast:
+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
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train/act_dice_art_run1/wandb/run-20250615_012525-fhdgxxjz/files/output.log

@@ -0,0 +1,317 @@
+Logs will be synced with wandb.
+INFO 2025-06-15 01:25:27 db_utils.py:103 Track this run --> https://wandb.ai/ametind-o/lerobot/runs/fhdgxxjz
+INFO 2025-06-15 01:25:27 ts/train.py:127 Creating dataset
+INFO 2025-06-15 01:25:28 ts/train.py:138 Creating policy
+Loading weights from local directory
+INFO 2025-06-15 01:25:28 ts/train.py:144 Creating optimizer and scheduler
+INFO 2025-06-15 01:25:29 ts/train.py:156 Output dir: outputs/train/act_dice_art_run1
+INFO 2025-06-15 01:25:29 ts/train.py:159 cfg.steps=100000 (100K)
+INFO 2025-06-15 01:25:29 ts/train.py:160 dataset.num_frames=2244 (2K)
+INFO 2025-06-15 01:25:29 ts/train.py:161 dataset.num_episodes=9
+INFO 2025-06-15 01:25:29 ts/train.py:162 num_learnable_params=51597190 (52M)
+INFO 2025-06-15 01:25:29 ts/train.py:163 num_total_params=51597238 (52M)
+INFO 2025-06-15 01:25:29 ts/train.py:202 Start offline training on a fixed dataset
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+INFO 2025-06-15 01:49:20 ts/train.py:241 Checkpoint policy after step 60000
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+INFO 2025-06-15 02:35:43 ts/train.py:232 step:99K smpl:794K ep:3K epch:353.65 loss:0.035 grdn:5.347 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-15 02:35:58 ts/train.py:232 step:99K smpl:795K ep:3K epch:354.37 loss:0.035 grdn:5.340 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-15 02:36:12 ts/train.py:232 step:100K smpl:797K ep:3K epch:355.08 loss:0.035 grdn:5.558 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-15 02:36:26 ts/train.py:232 step:100K smpl:798K ep:3K epch:355.79 loss:0.035 grdn:5.351 lr:1.0e-05 updt_s:0.070 data_s:0.000
+INFO 2025-06-15 02:36:40 ts/train.py:232 step:100K smpl:800K ep:3K epch:356.51 loss:0.035 grdn:5.366 lr:1.0e-05 updt_s:0.069 data_s:0.002
+INFO 2025-06-15 02:36:40 ts/train.py:241 Checkpoint policy after step 100000
+INFO 2025-06-15 02:36:41 ts/train.py:283 End of training

train/act_dice_art_run1/wandb/run-20250615_012525-fhdgxxjz/files/requirements.txt

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