act Model - phospho Training Pipeline

Error Traceback

We faced an issue while training your model.

Training process failed with exit code 1:
return forward_call(*args, **kwargs)
File "/lerobot/lerobot/common/policies/act/modeling_act.py", line 583, in forward
x = self.linear2(self.dropout(self.activation(self.linear1(x))))
File "/opt/conda/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1739, in _wrapped_call_impl
return self._call_impl(*args, **kwargs)
File "/opt/conda/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1750, in _call_impl
return forward_call(*args, **kwargs)
File "/opt/conda/envs/lerobot/lib/python3.10/site-packages/torch/nn/modules/linear.py", line 125, in forward
return F.linear(input, self.weight, self.bias)
torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 736.00 MiB. GPU 0 has a total capacity of 22.07 GiB of which 530.25 MiB is free. Process 41 has 21.54 GiB memory in use. Of the allocated memory 20.55 GiB is allocated by PyTorch, and 711.49 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation.  See documentation for Memory Management  (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)

Training parameters:

Dataset: anthonyav/so100-lego-v2
Wandb run URL: None
Epochs: None
Batch size: 100
Training steps: 8000

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