diff --git "a/can/checkpoint_5/run.log" "b/can/checkpoint_5/run.log" new file mode 100644--- /dev/null +++ "b/can/checkpoint_5/run.log" @@ -0,0 +1,1010 @@ +[2025-09-21 12:39:47,463][root][INFO] - Number of network parameters: 575564 +[2025-09-21 12:39:47,609][agent.dataset.sequence][INFO] - Loaded dataset from /home/zbzhu/Code/dppo/data/robomimic/can/train.npz +[2025-09-21 12:39:47,609][agent.dataset.sequence][INFO] - Number of episodes: 5 +[2025-09-21 12:39:47,609][agent.dataset.sequence][INFO] - States shape/type: (torch.Size([606, 23]), torch.float32) +[2025-09-21 12:39:47,609][agent.dataset.sequence][INFO] - Actions shape/type: (torch.Size([606, 7]), torch.float32) +[2025-09-21 12:39:47,709][agent.pretrain.train_diffusion_agent][INFO] - 1: train loss 1.0712 | t: 0.0986 +[2025-09-21 12:39:47,721][agent.pretrain.train_diffusion_agent][INFO] - 2: train loss 1.0511 | t: 0.0121 +[2025-09-21 12:39:47,732][agent.pretrain.train_diffusion_agent][INFO] - 3: train loss 1.0501 | t: 0.0110 +[2025-09-21 12:39:47,743][agent.pretrain.train_diffusion_agent][INFO] - 4: train loss 1.0558 | t: 0.0110 +[2025-09-21 12:39:47,754][agent.pretrain.train_diffusion_agent][INFO] - 5: train loss 1.0550 | t: 0.0112 +[2025-09-21 12:39:47,766][agent.pretrain.train_diffusion_agent][INFO] - 6: train loss 1.0337 | t: 0.0112 +[2025-09-21 12:39:47,777][agent.pretrain.train_diffusion_agent][INFO] - 7: train loss 1.0219 | t: 0.0112 +[2025-09-21 12:39:47,788][agent.pretrain.train_diffusion_agent][INFO] - 8: train loss 1.0391 | t: 0.0108 +[2025-09-21 12:39:47,798][agent.pretrain.train_diffusion_agent][INFO] - 9: train loss 1.0221 | t: 0.0108 +[2025-09-21 12:39:47,809][agent.pretrain.train_diffusion_agent][INFO] - 10: train loss 1.0266 | t: 0.0109 +[2025-09-21 12:39:47,820][agent.pretrain.train_diffusion_agent][INFO] - 11: train loss 1.0304 | t: 0.0109 +[2025-09-21 12:39:47,831][agent.pretrain.train_diffusion_agent][INFO] - 12: train loss 1.0088 | t: 0.0105 +[2025-09-21 12:39:47,841][agent.pretrain.train_diffusion_agent][INFO] - 13: train loss 1.0007 | t: 0.0107 +[2025-09-21 12:39:47,852][agent.pretrain.train_diffusion_agent][INFO] - 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64: train loss 0.5434 | t: 0.0114 +[2025-09-21 12:39:48,410][agent.pretrain.train_diffusion_agent][INFO] - 65: train loss 0.5289 | t: 0.0113 +[2025-09-21 12:39:48,421][agent.pretrain.train_diffusion_agent][INFO] - 66: train loss 0.5258 | t: 0.0109 +[2025-09-21 12:39:48,432][agent.pretrain.train_diffusion_agent][INFO] - 67: train loss 0.5336 | t: 0.0109 +[2025-09-21 12:39:48,442][agent.pretrain.train_diffusion_agent][INFO] - 68: train loss 0.4812 | t: 0.0106 +[2025-09-21 12:39:48,453][agent.pretrain.train_diffusion_agent][INFO] - 69: train loss 0.4806 | t: 0.0107 +[2025-09-21 12:39:48,463][agent.pretrain.train_diffusion_agent][INFO] - 70: train loss 0.4634 | t: 0.0106 +[2025-09-21 12:39:48,474][agent.pretrain.train_diffusion_agent][INFO] - 71: train loss 0.4400 | t: 0.0107 +[2025-09-21 12:39:48,485][agent.pretrain.train_diffusion_agent][INFO] - 72: train loss 0.4346 | t: 0.0107 +[2025-09-21 12:39:48,496][agent.pretrain.train_diffusion_agent][INFO] - 73: train loss 0.4247 | t: 0.0107 +[2025-09-21 12:39:48,506][agent.pretrain.train_diffusion_agent][INFO] - 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996: train loss 0.0984 | t: 0.0106 +[2025-09-21 12:39:58,705][agent.pretrain.train_diffusion_agent][INFO] - 997: train loss 0.1056 | t: 0.0109 +[2025-09-21 12:39:58,715][agent.pretrain.train_diffusion_agent][INFO] - 998: train loss 0.1266 | t: 0.0106 +[2025-09-21 12:39:58,726][agent.pretrain.train_diffusion_agent][INFO] - 999: train loss 0.0990 | t: 0.0105 +[2025-09-21 12:39:58,741][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-21_12-39-41_42/checkpoint/state_1000.pt +[2025-09-21 12:39:58,741][agent.pretrain.train_diffusion_agent][INFO] - 1000: train loss 0.1027 | t: 0.0149