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@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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+config: {'dataset': {'repo_id': 'kabilanKB/groot_n1', 'root': None, 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'streaming': False}, 'env': {'type': 'pusht', 'task': 'PushT-v0', 'fps': 10, 'features': {'action': {'type': <FeatureType.ACTION: 'ACTION'>, 'shape': [2]}, 'agent_pos': {'type': <FeatureType.STATE: 'STATE'>, 'shape': [2]}, 'pixels': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [384, 384, 3]}}, 'features_map': {'action': 'action', 'agent_pos': 'observation.state', 'environment_state': 'observation.environment_state', 'pixels': 'observation.image'}, 'max_parallel_tasks': 1, 'disable_env_checker': True, 'episode_length': 300, 'obs_type': 'pixels_agent_pos', 'render_mode': 'rgb_array', 'visualization_width': 384, 'visualization_height': 384, 'observation_height': 384, 'observation_width': 384}, 'policy': {'type': 'diffusion', 'n_obs_steps': 2, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'push_to_hub': True, 'repo_id': 'kabilanKB/diffusion_pusht', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'horizon': 16, 'n_action_steps': 8, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>, 'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>}, 'drop_n_last_frames': 7, 'vision_backbone': 'resnet18', 'crop_shape': [84, 84], 'crop_is_random': True, 'pretrained_backbone_weights': None, 'use_group_norm': True, 'spatial_softmax_num_keypoints': 32, 'use_separate_rgb_encoder_per_camera': False, 'down_dims': [512, 1024, 2048], 'kernel_size': 5, 'n_groups': 8, 'diffusion_step_embed_dim': 128, 'use_film_scale_modulation': True, 'noise_scheduler_type': 'DDPM', 'num_train_timesteps': 100, 'beta_schedule': 'squaredcos_cap_v2', 'beta_start': 0.0001, 'beta_end': 0.02, 'prediction_type': 'epsilon', 'clip_sample': True, 'clip_sample_range': 1.0, 'num_inference_steps': None, 'do_mask_loss_for_padding': False, 'optimizer_lr': 0.0001, 'optimizer_betas': [0.95, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-06, 'scheduler_name': 'cosine', 'scheduler_warmup_steps': 500}, 'output_dir': 'outputs/train/diffusion_pusht', 'job_name': 'pusht_diffusion', 'resume': False, 'seed': 100000, 'num_workers': 4, 'batch_size': 64, 'steps': 5000, 'eval_freq': 25000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 25000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adam', 'lr': 0.0001, 'weight_decay': 1e-06, 'grad_clip_norm': 10.0, 'betas': [0.95, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 500, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'checkpoint_path': None, 'rename_map': {}, '_wandb': {}}
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wandb/run-20260103_150123-d7g2zo0w/files/config.yaml

@@ -0,0 +1,280 @@
+_wandb:
+    value:
+        cli_version: 0.21.4
+        e:
+            t8h8ncbdwrpgtz6o8u96dn6sadjx81fi:
+                args:
+                    - --output_dir=outputs/train/diffusion_pusht
+                    - --policy.type=diffusion
+                    - --policy.repo_id=kabilanKB/diffusion_pusht
+                    - --dataset.repo_id=kabilanKB/groot_n1
+                    - --env.type=pusht
+                    - --batch_size=64
+                    - --steps=5000
+                    - --eval_freq=25000
+                    - --save_freq=25000
+                    - --seed=100000
+                    - --wandb.enable=true
+                cpu_count: 24
+                cpu_count_logical: 24
+                cudaVersion: "13.0"
+                disk:
+                    /:
+                        total: "200449576960"
+                        used: "35326451712"
+                executable: /home/zeux/miniconda3/envs/lerobot-isaac-lab/bin/python3.11
+                git:
+                    commit: af4766b60250f8a52d0b9de730a2fd1919c0c48b
+                    remote: https://github.com/Seeed-Projects/lerobot.git
+                gpu: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
+                      uuid: GPU-8c66f3c4-00c8-00a6-e5ff-633c5558ec8e
+                host: zeux
+                memory:
+                    total: "134489878528"
+                os: Linux-6.8.0-90-generic-x86_64-with-glibc2.35
+                program: /home/zeux/miniconda3/envs/lerobot-isaac-lab/bin/lerobot-train
+                python: CPython 3.11.6
+                root: outputs/train/diffusion_pusht
+                startedAt: "2026-01-03T09:31:23.655123Z"
+                writerId: t8h8ncbdwrpgtz6o8u96dn6sadjx81fi
+        m: []
+        python_version: 3.11.6
+        t:
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+            "5": 0.21.4
+            "6": 4.57.3
+            "10":
+                - 21
+            "12": 0.21.4
+            "13": linux-x86_64
+batch_size:
+    value: 64
+checkpoint_path:
+    value: null
+dataset:
+    value:
+        episodes: null
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
+            random_order: false
+            tfs:
+                affine:
+                    kwargs:
+                        degrees:
+                            - -5
+                            - 5
+                        translate:
+                            - 0.05
+                            - 0.05
+                    type: RandomAffine
+                    weight: 1
+                brightness:
+                    kwargs:
+                        brightness:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                contrast:
+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                hue:
+                    kwargs:
+                        hue:
+                            - -0.05
+                            - 0.05
+                    type: ColorJitter
+                    weight: 1
+                saturation:
+                    kwargs:
+                        saturation:
+                            - 0.5
+                            - 1.5
+                    type: ColorJitter
+                    weight: 1
+                sharpness:
+                    kwargs:
+                        sharpness:
+                            - 0.5
+                            - 1.5
+                    type: SharpnessJitter
+                    weight: 1
+        repo_id: kabilanKB/groot_n1
+        revision: null
+        root: null
+        streaming: false
+        use_imagenet_stats: true
+        video_backend: torchcodec
+env:
+    value:
+        disable_env_checker: true
+        episode_length: 300
+        features:
+            action:
+                shape:
+                    - 2
+                type: ACTION
+            agent_pos:
+                shape:
+                    - 2
+                type: STATE
+            pixels:
+                shape:
+                    - 384
+                    - 384
+                    - 3
+                type: VISUAL
+        features_map:
+            action: action
+            agent_pos: observation.state
+            environment_state: observation.environment_state
+            pixels: observation.image
+        fps: 10
+        max_parallel_tasks: 1
+        obs_type: pixels_agent_pos
+        observation_height: 384
+        observation_width: 384
+        render_mode: rgb_array
+        task: PushT-v0
+        type: pusht
+        visualization_height: 384
+        visualization_width: 384
+eval:
+    value:
+        batch_size: 50
+        n_episodes: 50
+        use_async_envs: false
+eval_freq:
+    value: 25000
+job_name:
+    value: pusht_diffusion
+log_freq:
+    value: 200
+num_workers:
+    value: 4
+optimizer:
+    value:
+        betas:
+            - 0.95
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 10
+        lr: 0.0001
+        type: adam
+        weight_decay: 1e-06
+output_dir:
+    value: outputs/train/diffusion_pusht
+policy:
+    value:
+        beta_end: 0.02
+        beta_schedule: squaredcos_cap_v2
+        beta_start: 0.0001
+        clip_sample: true
+        clip_sample_range: 1
+        crop_is_random: true
+        crop_shape:
+            - 84
+            - 84
+        device: cuda
+        diffusion_step_embed_dim: 128
+        do_mask_loss_for_padding: false
+        down_dims:
+            - 512
+            - 1024
+            - 2048
+        drop_n_last_frames: 7
+        horizon: 16
+        kernel_size: 5
+        license: null
+        n_action_steps: 8
+        n_groups: 8
+        n_obs_steps: 2
+        noise_scheduler_type: DDPM
+        normalization_mapping:
+            ACTION: MIN_MAX
+            STATE: MIN_MAX
+            VISUAL: MEAN_STD
+        num_inference_steps: null
+        num_train_timesteps: 100
+        optimizer_betas:
+            - 0.95
+            - 0.999
+        optimizer_eps: 1e-08
+        optimizer_lr: 0.0001
+        optimizer_weight_decay: 1e-06
+        prediction_type: epsilon
+        pretrained_backbone_weights: null
+        pretrained_path: null
+        private: null
+        push_to_hub: true
+        repo_id: kabilanKB/diffusion_pusht
+        scheduler_name: cosine
+        scheduler_warmup_steps: 500
+        spatial_softmax_num_keypoints: 32
+        tags: null
+        type: diffusion
+        use_amp: false
+        use_film_scale_modulation: true
+        use_group_norm: true
+        use_separate_rgb_encoder_per_camera: false
+        vision_backbone: resnet18
+resume:
+    value: false
+save_checkpoint:
+    value: true
+save_freq:
+    value: 25000
+scheduler:
+    value:
+        name: cosine
+        num_warmup_steps: 500
+        type: diffuser
+seed:
+    value: 100000
+steps:
+    value: 5000
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: null

wandb/run-20260103_150123-d7g2zo0w/files/output.log

@@ -0,0 +1,79 @@
+INFO 2026-01-03 15:01:24 db_utils.py:102 Logs will be synced with wandb.
+INFO 2026-01-03 15:01:24 db_utils.py:103 Track this run --> https://wandb.ai/nwaves-ai-nwaves/lerobot/runs/d7g2zo0w
+INFO 2026-01-03 15:01:24 ot_train.py:183 Creating dataset
+INFO 2026-01-03 15:01:24 ot_train.py:198 Creating env
+gym id 'gym_pusht/PushT-v0' not found, attempting to import 'gym_pusht'...
+/home/zeux/miniconda3/envs/lerobot-isaac-lab/lib/python3.11/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  from pkg_resources import resource_stream, resource_exists
+INFO 2026-01-03 15:01:24 ot_train.py:202 Creating policy
+INFO 2026-01-03 15:01:25 ot_train.py:247 Creating optimizer and scheduler
+INFO 2026-01-03 15:01:25 ot_train.py:259 Output dir: outputs/train/diffusion_pusht
+INFO 2026-01-03 15:01:25 ot_train.py:261 cfg.env.task='PushT-v0'
+INFO 2026-01-03 15:01:25 ot_train.py:262 Creating environment processors
+INFO 2026-01-03 15:01:25 ot_train.py:264 cfg.steps=5000 (5K)
+INFO 2026-01-03 15:01:25 ot_train.py:265 dataset.num_frames=9060 (9K)
+INFO 2026-01-03 15:01:25 ot_train.py:266 dataset.num_episodes=11
+INFO 2026-01-03 15:01:25 ot_train.py:269 Effective batch size: 64 x 1 = 64
+INFO 2026-01-03 15:01:25 ot_train.py:270 num_learnable_params=266622758 (267M)
+INFO 2026-01-03 15:01:25 ot_train.py:271 num_total_params=266622758 (267M)
+INFO 2026-01-03 15:01:25 ot_train.py:327 Start offline training on a fixed dataset
+INFO 2026-01-03 15:02:35 ot_train.py:354 step:200 smpl:13K ep:16 epch:1.41 loss:0.511 grdn:4.171 lr:2.0e-05 updt_s:0.053 data_s:0.295
+INFO 2026-01-03 15:03:42 ot_train.py:354 step:400 smpl:26K ep:31 epch:2.83 loss:0.073 grdn:2.733 lr:6.0e-05 updt_s:0.041 data_s:0.296
+INFO 2026-01-03 15:04:49 ot_train.py:354 step:600 smpl:38K ep:47 epch:4.24 loss:0.050 grdn:1.623 lr:9.5e-05 updt_s:0.041 data_s:0.294
+INFO 2026-01-03 15:06:00 ot_train.py:354 step:800 smpl:51K ep:62 epch:5.65 loss:0.035 grdn:1.066 lr:9.9e-05 updt_s:0.041 data_s:0.314
+INFO 2026-01-03 15:07:07 ot_train.py:354 step:1K smpl:64K ep:78 epch:7.06 loss:0.030 grdn:1.015 lr:9.8e-05 updt_s:0.042 data_s:0.290
+INFO 2026-01-03 15:08:15 ot_train.py:354 step:1K smpl:77K ep:93 epch:8.48 loss:0.027 grdn:0.869 lr:9.6e-05 updt_s:0.041 data_s:0.300
+INFO 2026-01-03 15:09:19 ot_train.py:354 step:1K smpl:90K ep:109 epch:9.89 loss:0.024 grdn:0.769 lr:9.2e-05 updt_s:0.041 data_s:0.279
+INFO 2026-01-03 15:10:27 ot_train.py:354 step:2K smpl:102K ep:124 epch:11.30 loss:0.022 grdn:0.710 lr:8.8e-05 updt_s:0.041 data_s:0.300
+INFO 2026-01-03 15:11:35 ot_train.py:354 step:2K smpl:115K ep:140 epch:12.72 loss:0.020 grdn:0.666 lr:8.3e-05 updt_s:0.041 data_s:0.298
+INFO 2026-01-03 15:12:42 ot_train.py:354 step:2K smpl:128K ep:155 epch:14.13 loss:0.019 grdn:0.606 lr:7.8e-05 updt_s:0.041 data_s:0.293
+INFO 2026-01-03 15:13:48 ot_train.py:354 step:2K smpl:141K ep:171 epch:15.54 loss:0.019 grdn:0.585 lr:7.2e-05 updt_s:0.041 data_s:0.292
+INFO 2026-01-03 15:14:54 ot_train.py:354 step:2K smpl:154K ep:186 epch:16.95 loss:0.018 grdn:0.576 lr:6.5e-05 updt_s:0.041 data_s:0.290
+INFO 2026-01-03 15:16:00 ot_train.py:354 step:3K smpl:166K ep:202 epch:18.37 loss:0.016 grdn:0.521 lr:5.9e-05 updt_s:0.041 data_s:0.289
+INFO 2026-01-03 15:17:05 ot_train.py:354 step:3K smpl:179K ep:218 epch:19.78 loss:0.015 grdn:0.482 lr:5.2e-05 updt_s:0.041 data_s:0.281
+INFO 2026-01-03 15:18:09 ot_train.py:354 step:3K smpl:192K ep:233 epch:21.19 loss:0.015 grdn:0.497 lr:4.5e-05 updt_s:0.041 data_s:0.281
+INFO 2026-01-03 15:19:15 ot_train.py:354 step:3K smpl:205K ep:249 epch:22.60 loss:0.014 grdn:0.449 lr:3.8e-05 updt_s:0.041 data_s:0.289
+INFO 2026-01-03 15:20:24 ot_train.py:354 step:3K smpl:218K ep:264 epch:24.02 loss:0.013 grdn:0.459 lr:3.1e-05 updt_s:0.041 data_s:0.301
+INFO 2026-01-03 15:21:28 ot_train.py:354 step:4K smpl:230K ep:280 epch:25.43 loss:0.013 grdn:0.441 lr:2.5e-05 updt_s:0.041 data_s:0.282
+INFO 2026-01-03 15:22:34 ot_train.py:354 step:4K smpl:243K ep:295 epch:26.84 loss:0.012 grdn:0.402 lr:1.9e-05 updt_s:0.041 data_s:0.288
+INFO 2026-01-03 15:23:39 ot_train.py:354 step:4K smpl:256K ep:311 epch:28.26 loss:0.011 grdn:0.411 lr:1.4e-05 updt_s:0.041 data_s:0.283
+INFO 2026-01-03 15:24:42 ot_train.py:354 step:4K smpl:269K ep:326 epch:29.67 loss:0.011 grdn:0.370 lr:9.6e-06 updt_s:0.041 data_s:0.277
+INFO 2026-01-03 15:25:55 ot_train.py:354 step:4K smpl:282K ep:342 epch:31.08 loss:0.010 grdn:0.350 lr:5.9e-06 updt_s:0.041 data_s:0.322
+INFO 2026-01-03 15:27:00 ot_train.py:354 step:5K smpl:294K ep:357 epch:32.49 loss:0.010 grdn:0.318 lr:3.0e-06 updt_s:0.041 data_s:0.283
+INFO 2026-01-03 15:28:05 ot_train.py:354 step:5K smpl:307K ep:373 epch:33.91 loss:0.010 grdn:0.282 lr:1.1e-06 updt_s:0.041 data_s:0.286
+INFO 2026-01-03 15:29:11 ot_train.py:354 step:5K smpl:320K ep:389 epch:35.32 loss:0.010 grdn:0.253 lr:1.6e-07 updt_s:0.041 data_s:0.288
+INFO 2026-01-03 15:29:11 ot_train.py:364 Checkpoint policy after step 5000
+INFO 2026-01-03 15:29:16 ot_train.py:435 End of training
+Traceback (most recent call last):
+  File "/home/zeux/miniconda3/envs/lerobot-isaac-lab/lib/python3.11/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/zeux/miniconda3/envs/lerobot-isaac-lab/lib/python3.11/site-packages/requests/models.py", line 1024, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 401 Client Error: Unauthorized for url: https://huggingface.co/api/repos/create
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/zeux/miniconda3/envs/lerobot-isaac-lab/bin/lerobot-train", line 7, in <module>
+    sys.exit(main())
+             ^^^^^^
+  File "/home/zeux/lerobot/src/lerobot/scripts/lerobot_train.py", line 449, in main
+    train()
+  File "/home/zeux/lerobot/src/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/zeux/lerobot/src/lerobot/scripts/lerobot_train.py", line 439, in train
+    unwrapped_policy.push_model_to_hub(cfg)
+  File "/home/zeux/lerobot/src/lerobot/policies/pretrained.py", line 211, in push_model_to_hub
+    repo_id = api.create_repo(
+              ^^^^^^^^^^^^^^^^
+  File "/home/zeux/miniconda3/envs/lerobot-isaac-lab/lib/python3.11/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^
+  File "/home/zeux/miniconda3/envs/lerobot-isaac-lab/lib/python3.11/site-packages/huggingface_hub/hf_api.py", line 3766, in create_repo
+    hf_raise_for_status(r)
+  File "/home/zeux/miniconda3/envs/lerobot-isaac-lab/lib/python3.11/site-packages/huggingface_hub/utils/_http.py", line 480, in hf_raise_for_status
+    raise _format(HfHubHTTPError, str(e), response) from e
+huggingface_hub.errors.HfHubHTTPError: 401 Client Error: Unauthorized for url: https://huggingface.co/api/repos/create (Request ID: Root=1-6958e874-46b24efd74284ee2579f8cc4;f8d83b9d-b550-47cf-9fd6-ae9c2ef628a6)
+
+Invalid username or password.

wandb/run-20260103_150123-d7g2zo0w/files/requirements.txt

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+moviepy==2.2.1
+nlopt==2.7.1
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wandb/run-20260103_150123-d7g2zo0w/files/wandb-metadata.json

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+2026-01-03 15:01:23,858 INFO    MainThread:179460 [wandb_init.py:init():857] sending inform_init request
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+2026-01-03 15:01:24,827 INFO    MainThread:179460 [wandb_run.py:_redirect():2423] Wrapping output streams.
+2026-01-03 15:01:24,827 INFO    MainThread:179460 [wandb_run.py:_redirect():2446] Redirects installed.
+2026-01-03 15:01:24,828 INFO    MainThread:179460 [wandb_init.py:init():1049] run started, returning control to user process
+2026-01-03 15:29:16,802 INFO    wandb-AsyncioManager-main:179460 [service_client.py:_forward_responses():84] Reached EOF.
+2026-01-03 15:29:16,802 INFO    wandb-AsyncioManager-main:179460 [mailbox.py:close():137] Closing mailbox, abandoning 2 handles.

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