=== Avatar Training (fire-and-forget) ===
Script: train_on_hf.py
Started: 2026-03-12 17:49:21 UTC

>>> [0/4] Raising file descriptor limit...
  ulimit -n = 1048576
>>> [1/4] Setting environment...
  HF_TOKEN set: 37 chars
  WANDB_API_KEY set: 0 chars
>>> [2/4] Logging into HuggingFace...
The token has not been saved to the git credentials helper. Pass `add_to_git_credential=True` in this function directly or `--add-to-git-credential` if using via `hf`CLI if you want to set the git credential as well.
Token is valid (permission: write).
The token `beta-pc` has been saved to /root/.cache/huggingface/stored_tokens
Your token has been saved to /root/.cache/huggingface/token
Login successful.
Note: Environment variable`HF_TOKEN` is set and is the current active token independently from the token you've just configured.
⚠️  Warning: 'huggingface-cli login' is deprecated. Use 'hf auth login' instead.
>>> [3/4] Pre-downloading pretrained model...
  No pretrained path to pre-download.
  GPUs: 1x NVIDIA GeForce RTX 4090
>>> [4/4] Launching accelerate with 1 GPUs...
  Script: train_on_hf.py
  Train args: --dataset alpha_bot_right_afternoon --steps 400000 --batch-size 12 --lr 1e-5 --preload --mixed-precision bf16 --compile --num-workers 8 --prefetch-factor 4 --save-freq 10000 --push-to-hub --wandb 

Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749
[Avatar] Auto-tagged dataset with version: v3.0
[Avatar] Mixed precision: bf16
[Avatar] W&B key invalid or missing (0 chars, need 40+), skipping W&B

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=True
  backbone=resnet18
lerobot_train \
  --dataset.repo_id=avatarrobotics/alpha-bot-right-2026-03-11-afternoon \
  --dataset.video_backend=pyav \
  --policy.repo_id=avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749 \
  --policy.type=act \
  --policy.chunk_size=100 \
  --policy.n_action_steps=100 \
  --policy.vision_backbone=resnet18 \
  --policy.pretrained_backbone_weights=ResNet18_Weights.IMAGENET1K_V1 \
  --policy.dim_model=512 \
  --policy.n_heads=8 \
  --policy.dim_feedforward=3200 \
  --policy.n_encoder_layers=4 \
  --policy.n_decoder_layers=1 \
  --policy.use_vae=true \
  --policy.latent_dim=32 \
  --policy.n_vae_encoder_layers=4 \
  --policy.dropout=0.1 \
  --policy.kl_weight=10.0 \
  --policy.optimizer_lr=1e-05 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=1e-05 \
  --batch_size=12 \
  --steps=400000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] cudnn.benchmark=True, tf32=True
[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749 (with per-step tags)
[Avatar] torch.compile enabled (will compile on first forward pass)
[Avatar] Overriding prefetch_factor=4
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
INFO 2026-03-12 17:49:32 ot_train.py:195 {'batch_size': 12,
 'checkpoint_path': None,
 'dataset': {'episodes': None,
             'image_transforms': {'enable': False,
                                  'max_num_transforms': 3,
                                  'random_order': False,
                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
                                                                            5.0],
                                                                'translate': [0.05,
                                                                              0.05]},
                                                     'type': 'RandomAffine',
                                                     'weight': 1.0},
                                          'brightness': {'kwargs': {'brightness': [0.8,
                                                                                   1.2]},
                                                         'type': 'ColorJitter',
                                                         'weight': 1.0},
                                          'contrast': {'kwargs': {'contrast': [0.8,
                                                                               1.2]},
                                                       'type': 'ColorJitter',
                                                       'weight': 1.0},
                                          'hue': {'kwargs': {'hue': [-0.05,
                                                                     0.05]},
                                                  'type': 'ColorJitter',
                                                  'weight': 1.0},
                                          'saturation': {'kwargs': {'saturation': [0.5,
                                                                                   1.5]},
                                                         'type': 'ColorJitter',
                                                         'weight': 1.0},
                                          'sharpness': {'kwargs': {'sharpness': [0.5,
                                                                                 1.5]},
                                                        'type': 'SharpnessJitter',
                                                        'weight': 1.0}}},
             'repo_id': 'avatarrobotics/alpha-bot-right-2026-03-11-afternoon',
             'revision': None,
             'root': None,
             'streaming': False,
             'use_imagenet_stats': True,
             'video_backend': 'pyav'},
 'env': None,
 'eval': {'batch_size': 50, 'n_episodes': 50, 'use_async_envs': False},
 'eval_freq': 20000,
 'job_name': 'act',
 'log_freq': 200,
 'num_workers': 8,
 'optimizer': {'betas': [0.9, 0.999],
               'eps': 1e-08,
               'grad_clip_norm': 10.0,
               'lr': 1e-05,
               'type': 'adamw',
               'weight_decay': 0.0001},
 'output_dir': 'outputs/train/act-vacuum-pick',
 'peft': None,
 'policy': {'chunk_size': 100,
            'device': 'cuda',
            'dim_feedforward': 3200,
            'dim_model': 512,
            'dropout': 0.1,
            'feedforward_activation': 'relu',
            'input_features': {},
            'kl_weight': 10.0,
            'latent_dim': 32,
            'license': None,
            'n_action_steps': 100,
            'n_decoder_layers': 1,
            'n_encoder_layers': 4,
            'n_heads': 8,
            'n_obs_steps': 1,
            'n_vae_encoder_layers': 4,
            'normalization_mapping': {'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
                                      'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
                                      'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>},
            'optimizer_lr': 1e-05,
            'optimizer_lr_backbone': 1e-05,
            'optimizer_weight_decay': 0.0001,
            'output_features': {},
            'pre_norm': False,
            'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1',
            'pretrained_path': None,
            'private': True,
            'push_to_hub': True,
            'replace_final_stride_with_dilation': False,
            'repo_id': 'avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749',
            'tags': None,
            'temporal_ensemble_coeff': None,
            'type': 'act',
            'use_amp': False,
            'use_peft': False,
            'use_vae': True,
            'vision_backbone': 'resnet18'},
 'rabc_epsilon': 1e-06,
 'rabc_head_mode': 'sparse',
 'rabc_kappa': 0.01,
 'rabc_progress_path': None,
 'rename_map': {},
 'resume': False,
 'save_checkpoint': True,
 'save_freq': 10000,
 'scheduler': None,
 'seed': 1000,
 'steps': 400000,
 'tolerance_s': 0.0001,
 'use_policy_training_preset': True,
 'use_rabc': False,
 'wandb': {'disable_artifact': False,
           'enable': False,
           'entity': None,
           'mode': None,
           'notes': None,
           'project': 'lerobot',
           'run_id': None}}
INFO 2026-03-12 17:49:32 ot_train.py:203 Logs will be saved locally.
INFO 2026-03-12 17:49:32 ot_train.py:215 Creating dataset

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[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Pre-decoding videos to JPEG: /tmp/avatar_frames_a13rflzc
  Extracting 938 videos with ffmpeg...
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  Done: 938/938 videos OK, 270,246 JPEGs, 18.8GB, 234s
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Preload complete (237s total)
[Avatar] Installed corrupt-frame retry handler
INFO 2026-03-12 17:54:22 ot_train.py:233 Creating policy
Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /root/.cache/torch/hub/checkpoints/resnet18-f37072fd.pth

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[Avatar] Compiling policy with torch.compile (mode=reduce-overhead)...
[Avatar] Policy compiled (first step will be slow)
INFO 2026-03-12 17:54:24 ot_train.py:288 Creating optimizer and scheduler
INFO 2026-03-12 17:54:24 ot_train.py:323 Output dir: outputs/train/act-vacuum-pick
INFO 2026-03-12 17:54:24 ot_train.py:330 cfg.steps=400000 (400K)
INFO 2026-03-12 17:54:24 ot_train.py:331 dataset.num_frames=134890 (135K)
INFO 2026-03-12 17:54:24 ot_train.py:332 dataset.num_episodes=469
INFO 2026-03-12 17:54:24 ot_train.py:335 Effective batch size: 12 x 1 = 12
INFO 2026-03-12 17:54:24 ot_train.py:336 num_learnable_params=51601288 (52M)
INFO 2026-03-12 17:54:24 ot_train.py:337 num_total_params=51601288 (52M)
INFO 2026-03-12 17:54:24 ot_train.py:393 Start offline training on a fixed dataset, with effective batch size: 12
W0312 17:56:10.884000 2002 torch/_dynamo/variables/tensor.py:913] [2/0] Graph break from `Tensor.item()`, consider setting:
W0312 17:56:10.884000 2002 torch/_dynamo/variables/tensor.py:913] [2/0]     torch._dynamo.config.capture_scalar_outputs = True
W0312 17:56:10.884000 2002 torch/_dynamo/variables/tensor.py:913] [2/0] or:
W0312 17:56:10.884000 2002 torch/_dynamo/variables/tensor.py:913] [2/0]     env TORCHDYNAMO_CAPTURE_SCALAR_OUTPUTS=1
W0312 17:56:10.884000 2002 torch/_dynamo/variables/tensor.py:913] [2/0] to include these operations in the captured graph.
W0312 17:56:10.884000 2002 torch/_dynamo/variables/tensor.py:913] [2/0] 
W0312 17:56:10.884000 2002 torch/_dynamo/variables/tensor.py:913] [2/0] Graph break: from user code at:
W0312 17:56:10.884000 2002 torch/_dynamo/variables/tensor.py:913] [2/0]   File "/usr/local/lib/python3.11/dist-packages/lerobot/policies/act/modeling_act.py", line 149, in torch_dynamo_resume_in_forward_at_142
W0312 17:56:10.884000 2002 torch/_dynamo/variables/tensor.py:913] [2/0]     if self.config.use_vae:
W0312 17:56:10.884000 2002 torch/_dynamo/variables/tensor.py:913] [2/0] 
W0312 17:56:10.884000 2002 torch/_dynamo/variables/tensor.py:913] [2/0] 
INFO 2026-03-12 17:57:25 ot_train.py:423 step:200 smpl:2K ep:8 epch:0.02 loss:6.789 grdn:131.978 lr:1.0e-05 updt_s:0.758 data_s:0.149
INFO 2026-03-12 17:57:51 ot_train.py:423 step:400 smpl:5K ep:17 epch:0.04 loss:2.824 grdn:68.677 lr:1.0e-05 updt_s:0.037 data_s:0.093
INFO 2026-03-12 17:58:08 ot_train.py:423 step:600 smpl:7K ep:25 epch:0.05 loss:2.362 grdn:61.073 lr:1.0e-05 updt_s:0.039 data_s:0.045
INFO 2026-03-12 17:58:24 ot_train.py:423 step:800 smpl:10K ep:33 epch:0.07 loss:2.120 grdn:57.121 lr:1.0e-05 updt_s:0.039 data_s:0.042
INFO 2026-03-12 17:58:40 ot_train.py:423 step:1K smpl:12K ep:42 epch:0.09 loss:1.870 grdn:52.202 lr:1.0e-05 updt_s:0.039 data_s:0.041
INFO 2026-03-12 17:58:53 ot_train.py:423 step:1K smpl:14K ep:50 epch:0.11 loss:1.693 grdn:49.729 lr:1.0e-05 updt_s:0.038 data_s:0.030
INFO 2026-03-12 17:59:06 ot_train.py:423 step:1K smpl:17K ep:58 epch:0.12 loss:1.543 grdn:47.290 lr:1.0e-05 updt_s:0.038 data_s:0.025
INFO 2026-03-12 17:59:20 ot_train.py:423 step:2K smpl:19K ep:67 epch:0.14 loss:1.398 grdn:44.436 lr:1.0e-05 updt_s:0.038 data_s:0.033
INFO 2026-03-12 17:59:33 ot_train.py:423 step:2K smpl:22K ep:75 epch:0.16 loss:1.268 grdn:42.567 lr:1.0e-05 updt_s:0.037 data_s:0.029
INFO 2026-03-12 17:59:47 ot_train.py:423 step:2K smpl:24K ep:83 epch:0.18 loss:1.146 grdn:40.484 lr:1.0e-05 updt_s:0.038 data_s:0.031
INFO 2026-03-12 17:59:59 ot_train.py:423 step:2K smpl:26K ep:92 epch:0.20 loss:1.043 grdn:38.556 lr:1.0e-05 updt_s:0.038 data_s:0.023
INFO 2026-03-12 18:00:12 ot_train.py:423 step:2K smpl:29K ep:100 epch:0.21 loss:0.950 grdn:36.268 lr:1.0e-05 updt_s:0.037 data_s:0.024
INFO 2026-03-12 18:00:22 ot_train.py:423 step:3K smpl:31K ep:108 epch:0.23 loss:0.866 grdn:34.296 lr:1.0e-05 updt_s:0.039 data_s:0.012
INFO 2026-03-12 18:00:31 ot_train.py:423 step:3K smpl:34K ep:117 epch:0.25 loss:0.785 grdn:33.091 lr:1.0e-05 updt_s:0.039 data_s:0.007
INFO 2026-03-12 18:00:42 ot_train.py:423 step:3K smpl:36K ep:125 epch:0.27 loss:0.725 grdn:30.813 lr:1.0e-05 updt_s:0.037 data_s:0.021
INFO 2026-03-12 18:00:53 ot_train.py:423 step:3K smpl:38K ep:134 epch:0.28 loss:0.664 grdn:29.643 lr:1.0e-05 updt_s:0.037 data_s:0.017
INFO 2026-03-12 18:01:05 ot_train.py:423 step:3K smpl:41K ep:142 epch:0.30 loss:0.619 grdn:28.250 lr:1.0e-05 updt_s:0.038 data_s:0.020
INFO 2026-03-12 18:01:17 ot_train.py:423 step:4K smpl:43K ep:150 epch:0.32 loss:0.577 grdn:27.084 lr:1.0e-05 updt_s:0.037 data_s:0.025
INFO 2026-03-12 18:01:28 ot_train.py:423 step:4K smpl:46K ep:159 epch:0.34 loss:0.539 grdn:25.816 lr:1.0e-05 updt_s:0.038 data_s:0.019
INFO 2026-03-12 18:01:41 ot_train.py:423 step:4K smpl:48K ep:167 epch:0.36 loss:0.501 grdn:24.579 lr:1.0e-05 updt_s:0.038 data_s:0.025
INFO 2026-03-12 18:01:51 ot_train.py:423 step:4K smpl:50K ep:175 epch:0.37 loss:0.476 grdn:23.535 lr:1.0e-05 updt_s:0.038 data_s:0.013
INFO 2026-03-12 18:02:02 ot_train.py:423 step:4K smpl:53K ep:184 epch:0.39 loss:0.439 grdn:22.516 lr:1.0e-05 updt_s:0.039 data_s:0.017
INFO 2026-03-12 18:02:15 ot_train.py:423 step:5K smpl:55K ep:192 epch:0.41 loss:0.419 grdn:21.741 lr:1.0e-05 updt_s:0.038 data_s:0.028
INFO 2026-03-12 18:02:28 ot_train.py:423 step:5K smpl:58K ep:200 epch:0.43 loss:0.408 grdn:21.146 lr:1.0e-05 updt_s:0.038 data_s:0.025
INFO 2026-03-12 18:02:41 ot_train.py:423 step:5K smpl:60K ep:209 epch:0.44 loss:0.390 grdn:20.772 lr:1.0e-05 updt_s:0.038 data_s:0.028
INFO 2026-03-12 18:02:54 ot_train.py:423 step:5K smpl:62K ep:217 epch:0.46 loss:0.379 grdn:20.132 lr:1.0e-05 updt_s:0.038 data_s:0.025
INFO 2026-03-12 18:03:05 ot_train.py:423 step:5K smpl:65K ep:225 epch:0.48 loss:0.362 grdn:19.099 lr:1.0e-05 updt_s:0.039 data_s:0.018
INFO 2026-03-12 18:03:18 ot_train.py:423 step:6K smpl:67K ep:234 epch:0.50 loss:0.353 grdn:19.014 lr:1.0e-05 updt_s:0.037 data_s:0.028
INFO 2026-03-12 18:03:29 ot_train.py:423 step:6K smpl:70K ep:242 epch:0.52 loss:0.340 grdn:18.486 lr:1.0e-05 updt_s:0.037 data_s:0.014
INFO 2026-03-12 18:03:38 ot_train.py:423 step:6K smpl:72K ep:250 epch:0.53 loss:0.331 grdn:18.114 lr:1.0e-05 updt_s:0.038 data_s:0.007
INFO 2026-03-12 18:03:49 ot_train.py:423 step:6K smpl:74K ep:259 epch:0.55 loss:0.325 grdn:17.784 lr:1.0e-05 updt_s:0.037 data_s:0.017
INFO 2026-03-12 18:04:02 ot_train.py:423 step:6K smpl:77K ep:267 epch:0.57 loss:0.315 grdn:17.716 lr:1.0e-05 updt_s:0.038 data_s:0.029
INFO 2026-03-12 18:04:14 ot_train.py:423 step:7K smpl:79K ep:275 epch:0.59 loss:0.306 grdn:16.580 lr:1.0e-05 updt_s:0.038 data_s:0.024
INFO 2026-03-12 18:04:27 ot_train.py:423 step:7K smpl:82K ep:284 epch:0.60 loss:0.292 grdn:16.557 lr:1.0e-05 updt_s:0.037 data_s:0.025
INFO 2026-03-12 18:04:38 ot_train.py:423 step:7K smpl:84K ep:292 epch:0.62 loss:0.291 grdn:16.277 lr:1.0e-05 updt_s:0.039 data_s:0.019
INFO 2026-03-12 18:04:49 ot_train.py:423 step:7K smpl:86K ep:300 epch:0.64 loss:0.286 grdn:15.725 lr:1.0e-05 updt_s:0.038 data_s:0.015
INFO 2026-03-12 18:05:01 ot_train.py:423 step:7K smpl:89K ep:309 epch:0.66 loss:0.280 grdn:16.118 lr:1.0e-05 updt_s:0.038 data_s:0.022
INFO 2026-03-12 18:05:11 ot_train.py:423 step:8K smpl:91K ep:317 epch:0.68 loss:0.272 grdn:15.357 lr:1.0e-05 updt_s:0.038 data_s:0.012
INFO 2026-03-12 18:05:21 ot_train.py:423 step:8K smpl:94K ep:325 epch:0.69 loss:0.269 grdn:15.514 lr:1.0e-05 updt_s:0.038 data_s:0.013
INFO 2026-03-12 18:05:33 ot_train.py:423 step:8K smpl:96K ep:334 epch:0.71 loss:0.270 grdn:15.238 lr:1.0e-05 updt_s:0.037 data_s:0.019
INFO 2026-03-12 18:05:43 ot_train.py:423 step:8K smpl:98K ep:342 epch:0.73 loss:0.258 grdn:15.101 lr:1.0e-05 updt_s:0.037 data_s:0.015
INFO 2026-03-12 18:05:54 ot_train.py:423 step:8K smpl:101K ep:350 epch:0.75 loss:0.256 grdn:14.594 lr:1.0e-05 updt_s:0.037 data_s:0.019
INFO 2026-03-12 18:06:04 ot_train.py:423 step:9K smpl:103K ep:359 epch:0.77 loss:0.248 grdn:14.240 lr:1.0e-05 updt_s:0.037 data_s:0.013
INFO 2026-03-12 18:06:17 ot_train.py:423 step:9K smpl:106K ep:367 epch:0.78 loss:0.249 grdn:14.189 lr:1.0e-05 updt_s:0.038 data_s:0.026
INFO 2026-03-12 18:06:28 ot_train.py:423 step:9K smpl:108K ep:376 epch:0.80 loss:0.241 grdn:13.795 lr:1.0e-05 updt_s:0.038 data_s:0.014
INFO 2026-03-12 18:06:38 ot_train.py:423 step:9K smpl:110K ep:384 epch:0.82 loss:0.237 grdn:13.889 lr:1.0e-05 updt_s:0.036 data_s:0.017
INFO 2026-03-12 18:06:52 ot_train.py:423 step:9K smpl:113K ep:392 epch:0.84 loss:0.237 grdn:13.378 lr:1.0e-05 updt_s:0.038 data_s:0.031
INFO 2026-03-12 18:07:06 ot_train.py:423 step:10K smpl:115K ep:401 epch:0.85 loss:0.234 grdn:13.467 lr:1.0e-05 updt_s:0.037 data_s:0.032
INFO 2026-03-12 18:07:18 ot_train.py:423 step:10K smpl:118K ep:409 epch:0.87 loss:0.232 grdn:13.758 lr:1.0e-05 updt_s:0.037 data_s:0.022
INFO 2026-03-12 18:07:29 ot_train.py:423 step:10K smpl:120K ep:417 epch:0.89 loss:0.226 grdn:12.925 lr:1.0e-05 updt_s:0.038 data_s:0.019
INFO 2026-03-12 18:07:29 ot_train.py:443 Checkpoint policy after step 10000
[Avatar] Pushing checkpoint (step 10000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 18:07:38 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 10000) OK
[Avatar] Tagged as 'step-10000'
INFO 2026-03-12 18:07:55 ot_train.py:423 step:10K smpl:122K ep:426 epch:0.91 loss:0.221 grdn:13.389 lr:1.0e-05 updt_s:0.037 data_s:0.020
INFO 2026-03-12 18:08:06 ot_train.py:423 step:10K smpl:125K ep:434 epch:0.93 loss:0.217 grdn:13.255 lr:1.0e-05 updt_s:0.036 data_s:0.019
INFO 2026-03-12 18:08:18 ot_train.py:423 step:11K smpl:127K ep:442 epch:0.94 loss:0.216 grdn:12.877 lr:1.0e-05 updt_s:0.037 data_s:0.025
INFO 2026-03-12 18:08:30 ot_train.py:423 step:11K smpl:130K ep:451 epch:0.96 loss:0.212 grdn:12.687 lr:1.0e-05 updt_s:0.038 data_s:0.021
INFO 2026-03-12 18:08:39 ot_train.py:423 step:11K smpl:132K ep:459 epch:0.98 loss:0.214 grdn:12.554 lr:1.0e-05 updt_s:0.039 data_s:0.007
INFO 2026-03-12 18:08:49 ot_train.py:423 step:11K smpl:134K ep:467 epch:1.00 loss:0.208 grdn:12.221 lr:1.0e-05 updt_s:0.038 data_s:0.011
INFO 2026-03-12 18:16:12 ot_train.py:423 step:11K smpl:137K ep:476 epch:1.01 loss:0.204 grdn:12.359 lr:1.0e-05 updt_s:2.118 data_s:0.098
INFO 2026-03-12 18:16:37 ot_train.py:423 step:12K smpl:139K ep:484 epch:1.03 loss:0.199 grdn:11.736 lr:1.0e-05 updt_s:0.038 data_s:0.085
INFO 2026-03-12 18:16:53 ot_train.py:423 step:12K smpl:142K ep:492 epch:1.05 loss:0.198 grdn:12.083 lr:1.0e-05 updt_s:0.037 data_s:0.041
INFO 2026-03-12 18:17:04 ot_train.py:423 step:12K smpl:144K ep:501 epch:1.07 loss:0.196 grdn:11.618 lr:1.0e-05 updt_s:0.037 data_s:0.021
INFO 2026-03-12 18:17:15 ot_train.py:423 step:12K smpl:146K ep:509 epch:1.09 loss:0.197 grdn:11.785 lr:1.0e-05 updt_s:0.038 data_s:0.016
INFO 2026-03-12 18:17:24 ot_train.py:423 step:12K smpl:149K ep:517 epch:1.10 loss:0.197 grdn:11.632 lr:1.0e-05 updt_s:0.037 data_s:0.006
INFO 2026-03-12 18:17:32 ot_train.py:423 step:13K smpl:151K ep:526 epch:1.12 loss:0.194 grdn:11.487 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:17:40 ot_train.py:423 step:13K smpl:154K ep:534 epch:1.14 loss:0.186 grdn:11.004 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:17:48 ot_train.py:423 step:13K smpl:156K ep:542 epch:1.16 loss:0.187 grdn:11.048 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:17:57 ot_train.py:423 step:13K smpl:158K ep:551 epch:1.17 loss:0.181 grdn:10.934 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 18:18:05 ot_train.py:423 step:13K smpl:161K ep:559 epch:1.19 loss:0.184 grdn:11.652 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:18:13 ot_train.py:423 step:14K smpl:163K ep:567 epch:1.21 loss:0.180 grdn:11.012 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:18:21 ot_train.py:423 step:14K smpl:166K ep:576 epch:1.23 loss:0.179 grdn:10.862 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:18:29 ot_train.py:423 step:14K smpl:168K ep:584 epch:1.25 loss:0.182 grdn:10.611 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:18:37 ot_train.py:423 step:14K smpl:170K ep:592 epch:1.26 loss:0.174 grdn:10.411 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:18:45 ot_train.py:423 step:14K smpl:173K ep:601 epch:1.28 loss:0.177 grdn:10.507 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:18:54 ot_train.py:423 step:15K smpl:175K ep:609 epch:1.30 loss:0.172 grdn:10.407 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:19:02 ot_train.py:423 step:15K smpl:178K ep:617 epch:1.32 loss:0.171 grdn:10.428 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:19:10 ot_train.py:423 step:15K smpl:180K ep:626 epch:1.33 loss:0.170 grdn:10.344 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:19:18 ot_train.py:423 step:15K smpl:182K ep:634 epch:1.35 loss:0.174 grdn:10.284 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:19:27 ot_train.py:423 step:15K smpl:185K ep:643 epch:1.37 loss:0.169 grdn:9.819 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:19:35 ot_train.py:423 step:16K smpl:187K ep:651 epch:1.39 loss:0.165 grdn:10.065 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:19:44 ot_train.py:423 step:16K smpl:190K ep:659 epch:1.41 loss:0.162 grdn:9.632 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:19:52 ot_train.py:423 step:16K smpl:192K ep:668 epch:1.42 loss:0.161 grdn:9.554 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:20:00 ot_train.py:423 step:16K smpl:194K ep:676 epch:1.44 loss:0.160 grdn:9.588 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:20:08 ot_train.py:423 step:16K smpl:197K ep:684 epch:1.46 loss:0.163 grdn:9.634 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:20:17 ot_train.py:423 step:17K smpl:199K ep:693 epch:1.48 loss:0.158 grdn:9.730 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:20:25 ot_train.py:423 step:17K smpl:202K ep:701 epch:1.49 loss:0.158 grdn:10.014 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:20:33 ot_train.py:423 step:17K smpl:204K ep:709 epch:1.51 loss:0.155 grdn:9.482 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:20:41 ot_train.py:423 step:17K smpl:206K ep:718 epch:1.53 loss:0.158 grdn:9.459 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:20:50 ot_train.py:423 step:17K smpl:209K ep:726 epch:1.55 loss:0.156 grdn:9.319 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:20:58 ot_train.py:423 step:18K smpl:211K ep:734 epch:1.57 loss:0.152 grdn:9.276 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:21:06 ot_train.py:423 step:18K smpl:214K ep:743 epch:1.58 loss:0.153 grdn:9.181 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:21:14 ot_train.py:423 step:18K smpl:216K ep:751 epch:1.60 loss:0.150 grdn:8.825 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 18:21:23 ot_train.py:423 step:18K smpl:218K ep:759 epch:1.62 loss:0.153 grdn:9.305 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 18:21:31 ot_train.py:423 step:18K smpl:221K ep:768 epch:1.64 loss:0.151 grdn:8.795 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:21:39 ot_train.py:423 step:19K smpl:223K ep:776 epch:1.65 loss:0.149 grdn:9.117 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:21:47 ot_train.py:423 step:19K smpl:226K ep:784 epch:1.67 loss:0.147 grdn:8.891 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:21:56 ot_train.py:423 step:19K smpl:228K ep:793 epch:1.69 loss:0.151 grdn:9.291 lr:1.0e-05 updt_s:0.036 data_s:0.006
INFO 2026-03-12 18:22:05 ot_train.py:423 step:19K smpl:230K ep:801 epch:1.71 loss:0.148 grdn:9.212 lr:1.0e-05 updt_s:0.037 data_s:0.009
INFO 2026-03-12 18:22:13 ot_train.py:423 step:19K smpl:233K ep:809 epch:1.73 loss:0.147 grdn:8.878 lr:1.0e-05 updt_s:0.036 data_s:0.005
INFO 2026-03-12 18:22:21 ot_train.py:423 step:20K smpl:235K ep:818 epch:1.74 loss:0.146 grdn:9.134 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:22:30 ot_train.py:423 step:20K smpl:238K ep:826 epch:1.76 loss:0.148 grdn:9.184 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:22:38 ot_train.py:423 step:20K smpl:240K ep:834 epch:1.78 loss:0.145 grdn:9.095 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:22:38 ot_train.py:443 Checkpoint policy after step 20000
[Avatar] Pushing checkpoint (step 20000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 18:22:45 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 20000) OK
[Avatar] Tagged as 'step-20000'
INFO 2026-03-12 18:22:54 ot_train.py:423 step:20K smpl:242K ep:843 epch:1.80 loss:0.144 grdn:8.557 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:23:02 ot_train.py:423 step:20K smpl:245K ep:851 epch:1.81 loss:0.142 grdn:8.597 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:23:10 ot_train.py:423 step:21K smpl:247K ep:859 epch:1.83 loss:0.141 grdn:8.716 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 18:23:19 ot_train.py:423 step:21K smpl:250K ep:868 epch:1.85 loss:0.145 grdn:8.989 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:23:27 ot_train.py:423 step:21K smpl:252K ep:876 epch:1.87 loss:0.140 grdn:8.461 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:23:36 ot_train.py:423 step:21K smpl:254K ep:885 epch:1.89 loss:0.140 grdn:8.359 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:23:44 ot_train.py:423 step:21K smpl:257K ep:893 epch:1.90 loss:0.139 grdn:8.517 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 18:23:52 ot_train.py:423 step:22K smpl:259K ep:901 epch:1.92 loss:0.141 grdn:8.317 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:24:00 ot_train.py:423 step:22K smpl:262K ep:910 epch:1.94 loss:0.135 grdn:8.307 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:24:08 ot_train.py:423 step:22K smpl:264K ep:918 epch:1.96 loss:0.135 grdn:8.204 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:24:17 ot_train.py:423 step:22K smpl:266K ep:926 epch:1.97 loss:0.138 grdn:8.221 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:24:24 ot_train.py:423 step:22K smpl:269K ep:935 epch:1.99 loss:0.135 grdn:8.234 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:25:03 ot_train.py:423 step:23K smpl:271K ep:943 epch:2.01 loss:0.134 grdn:8.281 lr:1.0e-05 updt_s:0.091 data_s:0.102
INFO 2026-03-12 18:25:27 ot_train.py:423 step:23K smpl:274K ep:951 epch:2.03 loss:0.134 grdn:8.838 lr:1.0e-05 updt_s:0.037 data_s:0.084
INFO 2026-03-12 18:25:44 ot_train.py:423 step:23K smpl:276K ep:960 epch:2.05 loss:0.129 grdn:7.912 lr:1.0e-05 updt_s:0.037 data_s:0.047
INFO 2026-03-12 18:25:57 ot_train.py:423 step:23K smpl:278K ep:968 epch:2.06 loss:0.130 grdn:8.027 lr:1.0e-05 updt_s:0.037 data_s:0.025
INFO 2026-03-12 18:26:08 ot_train.py:423 step:23K smpl:281K ep:976 epch:2.08 loss:0.129 grdn:7.937 lr:1.0e-05 updt_s:0.038 data_s:0.016
INFO 2026-03-12 18:26:17 ot_train.py:423 step:24K smpl:283K ep:985 epch:2.10 loss:0.128 grdn:8.204 lr:1.0e-05 updt_s:0.038 data_s:0.009
INFO 2026-03-12 18:26:25 ot_train.py:423 step:24K smpl:286K ep:993 epch:2.12 loss:0.128 grdn:7.907 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:26:33 ot_train.py:423 step:24K smpl:288K ep:1K epch:2.14 loss:0.127 grdn:7.868 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:26:41 ot_train.py:423 step:24K smpl:290K ep:1K epch:2.15 loss:0.131 grdn:8.429 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:26:50 ot_train.py:423 step:24K smpl:293K ep:1K epch:2.17 loss:0.125 grdn:7.549 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:26:58 ot_train.py:423 step:25K smpl:295K ep:1K epch:2.19 loss:0.127 grdn:7.840 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:27:07 ot_train.py:423 step:25K smpl:298K ep:1K epch:2.21 loss:0.127 grdn:8.177 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:27:15 ot_train.py:423 step:25K smpl:300K ep:1K epch:2.22 loss:0.128 grdn:7.795 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:27:23 ot_train.py:423 step:25K smpl:302K ep:1K epch:2.24 loss:0.125 grdn:8.037 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:27:31 ot_train.py:423 step:25K smpl:305K ep:1K epch:2.26 loss:0.125 grdn:7.548 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:27:39 ot_train.py:423 step:26K smpl:307K ep:1K epch:2.28 loss:0.125 grdn:7.740 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:27:47 ot_train.py:423 step:26K smpl:310K ep:1K epch:2.30 loss:0.126 grdn:7.663 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:27:55 ot_train.py:423 step:26K smpl:312K ep:1K epch:2.31 loss:0.124 grdn:8.099 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:28:03 ot_train.py:423 step:26K smpl:314K ep:1K epch:2.33 loss:0.122 grdn:7.366 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:28:11 ot_train.py:423 step:26K smpl:317K ep:1K epch:2.35 loss:0.121 grdn:7.524 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:28:20 ot_train.py:423 step:27K smpl:319K ep:1K epch:2.37 loss:0.122 grdn:7.455 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:28:28 ot_train.py:423 step:27K smpl:322K ep:1K epch:2.38 loss:0.122 grdn:7.497 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:28:36 ot_train.py:423 step:27K smpl:324K ep:1K epch:2.40 loss:0.121 grdn:7.708 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:28:44 ot_train.py:423 step:27K smpl:326K ep:1K epch:2.42 loss:0.123 grdn:7.538 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:28:52 ot_train.py:423 step:27K smpl:329K ep:1K epch:2.44 loss:0.121 grdn:7.551 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:29:00 ot_train.py:423 step:28K smpl:331K ep:1K epch:2.46 loss:0.119 grdn:7.219 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:29:09 ot_train.py:423 step:28K smpl:334K ep:1K epch:2.47 loss:0.121 grdn:7.540 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:29:17 ot_train.py:423 step:28K smpl:336K ep:1K epch:2.49 loss:0.119 grdn:7.203 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 18:29:25 ot_train.py:423 step:28K smpl:338K ep:1K epch:2.51 loss:0.121 grdn:7.422 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:29:33 ot_train.py:423 step:28K smpl:341K ep:1K epch:2.53 loss:0.121 grdn:7.771 lr:1.0e-05 updt_s:0.036 data_s:0.004
INFO 2026-03-12 18:29:41 ot_train.py:423 step:29K smpl:343K ep:1K epch:2.54 loss:0.119 grdn:7.821 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:29:49 ot_train.py:423 step:29K smpl:346K ep:1K epch:2.56 loss:0.114 grdn:7.029 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:29:57 ot_train.py:423 step:29K smpl:348K ep:1K epch:2.58 loss:0.117 grdn:7.120 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:30:06 ot_train.py:423 step:29K smpl:350K ep:1K epch:2.60 loss:0.116 grdn:7.196 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:30:14 ot_train.py:423 step:29K smpl:353K ep:1K epch:2.62 loss:0.114 grdn:7.224 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:30:22 ot_train.py:423 step:30K smpl:355K ep:1K epch:2.63 loss:0.119 grdn:7.942 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:30:30 ot_train.py:423 step:30K smpl:358K ep:1K epch:2.65 loss:0.115 grdn:7.262 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:30:38 ot_train.py:423 step:30K smpl:360K ep:1K epch:2.67 loss:0.115 grdn:7.261 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:30:38 ot_train.py:443 Checkpoint policy after step 30000
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INFO 2026-03-12 18:30:53 ot_train.py:423 step:30K smpl:362K ep:1K epch:2.69 loss:0.117 grdn:7.359 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:31:01 ot_train.py:423 step:30K smpl:365K ep:1K epch:2.70 loss:0.116 grdn:7.118 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:31:09 ot_train.py:423 step:31K smpl:367K ep:1K epch:2.72 loss:0.114 grdn:7.266 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 18:31:18 ot_train.py:423 step:31K smpl:370K ep:1K epch:2.74 loss:0.116 grdn:7.092 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:31:26 ot_train.py:423 step:31K smpl:372K ep:1K epch:2.76 loss:0.113 grdn:6.680 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:31:34 ot_train.py:423 step:31K smpl:374K ep:1K epch:2.78 loss:0.114 grdn:7.536 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:31:42 ot_train.py:423 step:31K smpl:377K ep:1K epch:2.79 loss:0.114 grdn:7.475 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:31:50 ot_train.py:423 step:32K smpl:379K ep:1K epch:2.81 loss:0.112 grdn:7.115 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 18:31:58 ot_train.py:423 step:32K smpl:382K ep:1K epch:2.83 loss:0.112 grdn:7.079 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:32:06 ot_train.py:423 step:32K smpl:384K ep:1K epch:2.85 loss:0.114 grdn:7.141 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:32:14 ot_train.py:423 step:32K smpl:386K ep:1K epch:2.86 loss:0.112 grdn:6.645 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:32:22 ot_train.py:423 step:32K smpl:389K ep:1K epch:2.88 loss:0.114 grdn:6.705 lr:1.0e-05 updt_s:0.035 data_s:0.003
INFO 2026-03-12 18:32:30 ot_train.py:423 step:33K smpl:391K ep:1K epch:2.90 loss:0.111 grdn:6.912 lr:1.0e-05 updt_s:0.036 data_s:0.005
INFO 2026-03-12 18:32:38 ot_train.py:423 step:33K smpl:394K ep:1K epch:2.92 loss:0.111 grdn:6.979 lr:1.0e-05 updt_s:0.036 data_s:0.004
INFO 2026-03-12 18:32:46 ot_train.py:423 step:33K smpl:396K ep:1K epch:2.94 loss:0.110 grdn:6.938 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:32:54 ot_train.py:423 step:33K smpl:398K ep:1K epch:2.95 loss:0.110 grdn:7.046 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:33:02 ot_train.py:423 step:33K smpl:401K ep:1K epch:2.97 loss:0.111 grdn:6.948 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:33:10 ot_train.py:423 step:34K smpl:403K ep:1K epch:2.99 loss:0.108 grdn:6.327 lr:1.0e-05 updt_s:0.036 data_s:0.004
INFO 2026-03-12 18:33:33 ot_train.py:423 step:34K smpl:406K ep:1K epch:3.01 loss:0.109 grdn:6.967 lr:1.0e-05 updt_s:0.036 data_s:0.076
INFO 2026-03-12 18:34:01 ot_train.py:423 step:34K smpl:408K ep:1K epch:3.02 loss:0.105 grdn:6.611 lr:1.0e-05 updt_s:0.038 data_s:0.103
INFO 2026-03-12 18:34:19 ot_train.py:423 step:34K smpl:410K ep:1K epch:3.04 loss:0.107 grdn:7.130 lr:1.0e-05 updt_s:0.037 data_s:0.052
INFO 2026-03-12 18:34:33 ot_train.py:423 step:34K smpl:413K ep:1K epch:3.06 loss:0.108 grdn:6.818 lr:1.0e-05 updt_s:0.037 data_s:0.032
INFO 2026-03-12 18:34:43 ot_train.py:423 step:35K smpl:415K ep:1K epch:3.08 loss:0.106 grdn:6.807 lr:1.0e-05 updt_s:0.037 data_s:0.013
INFO 2026-03-12 18:34:51 ot_train.py:423 step:35K smpl:418K ep:1K epch:3.10 loss:0.107 grdn:6.594 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 18:35:00 ot_train.py:423 step:35K smpl:420K ep:1K epch:3.11 loss:0.106 grdn:6.566 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 18:35:08 ot_train.py:423 step:35K smpl:422K ep:1K epch:3.13 loss:0.104 grdn:6.520 lr:1.0e-05 updt_s:0.037 data_s:0.006
INFO 2026-03-12 18:35:17 ot_train.py:423 step:35K smpl:425K ep:1K epch:3.15 loss:0.106 grdn:7.012 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 18:35:25 ot_train.py:423 step:36K smpl:427K ep:1K epch:3.17 loss:0.101 grdn:6.370 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:35:33 ot_train.py:423 step:36K smpl:430K ep:1K epch:3.18 loss:0.104 grdn:6.673 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:35:42 ot_train.py:423 step:36K smpl:432K ep:2K epch:3.20 loss:0.103 grdn:6.514 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:35:50 ot_train.py:423 step:36K smpl:434K ep:2K epch:3.22 loss:0.104 grdn:6.562 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:35:58 ot_train.py:423 step:36K smpl:437K ep:2K epch:3.24 loss:0.102 grdn:6.410 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:36:08 ot_train.py:423 step:37K smpl:439K ep:2K epch:3.26 loss:0.103 grdn:6.708 lr:1.0e-05 updt_s:0.041 data_s:0.005
INFO 2026-03-12 18:36:16 ot_train.py:423 step:37K smpl:442K ep:2K epch:3.27 loss:0.102 grdn:6.550 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 18:36:25 ot_train.py:423 step:37K smpl:444K ep:2K epch:3.29 loss:0.104 grdn:6.679 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:36:34 ot_train.py:423 step:37K smpl:446K ep:2K epch:3.31 loss:0.103 grdn:6.552 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:36:42 ot_train.py:423 step:37K smpl:449K ep:2K epch:3.33 loss:0.101 grdn:6.312 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 18:36:51 ot_train.py:423 step:38K smpl:451K ep:2K epch:3.34 loss:0.102 grdn:6.757 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 18:37:00 ot_train.py:423 step:38K smpl:454K ep:2K epch:3.36 loss:0.102 grdn:6.179 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 18:37:08 ot_train.py:423 step:38K smpl:456K ep:2K epch:3.38 loss:0.103 grdn:6.492 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:37:17 ot_train.py:423 step:38K smpl:458K ep:2K epch:3.40 loss:0.102 grdn:6.484 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:37:25 ot_train.py:423 step:38K smpl:461K ep:2K epch:3.42 loss:0.101 grdn:6.713 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:37:34 ot_train.py:423 step:39K smpl:463K ep:2K epch:3.43 loss:0.100 grdn:6.202 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:37:42 ot_train.py:423 step:39K smpl:466K ep:2K epch:3.45 loss:0.101 grdn:6.412 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:37:50 ot_train.py:423 step:39K smpl:468K ep:2K epch:3.47 loss:0.098 grdn:6.224 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:37:59 ot_train.py:423 step:39K smpl:470K ep:2K epch:3.49 loss:0.101 grdn:6.611 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:38:08 ot_train.py:423 step:39K smpl:473K ep:2K epch:3.51 loss:0.100 grdn:6.398 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:38:16 ot_train.py:423 step:40K smpl:475K ep:2K epch:3.52 loss:0.099 grdn:6.465 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:38:24 ot_train.py:423 step:40K smpl:478K ep:2K epch:3.54 loss:0.097 grdn:6.048 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:38:33 ot_train.py:423 step:40K smpl:480K ep:2K epch:3.56 loss:0.098 grdn:6.212 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:38:33 ot_train.py:443 Checkpoint policy after step 40000
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INFO 2026-03-12 18:38:46 ot_train.py:423 step:40K smpl:482K ep:2K epch:3.58 loss:0.099 grdn:5.960 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:38:54 ot_train.py:423 step:40K smpl:485K ep:2K epch:3.59 loss:0.099 grdn:6.227 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:39:03 ot_train.py:423 step:41K smpl:487K ep:2K epch:3.61 loss:0.101 grdn:6.412 lr:1.0e-05 updt_s:0.039 data_s:0.006
INFO 2026-03-12 18:39:12 ot_train.py:423 step:41K smpl:490K ep:2K epch:3.63 loss:0.098 grdn:6.102 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 18:39:21 ot_train.py:423 step:41K smpl:492K ep:2K epch:3.65 loss:0.097 grdn:6.291 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:39:29 ot_train.py:423 step:41K smpl:494K ep:2K epch:3.67 loss:0.099 grdn:6.611 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:39:38 ot_train.py:423 step:41K smpl:497K ep:2K epch:3.68 loss:0.097 grdn:6.182 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:39:46 ot_train.py:423 step:42K smpl:499K ep:2K epch:3.70 loss:0.098 grdn:6.229 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:39:55 ot_train.py:423 step:42K smpl:502K ep:2K epch:3.72 loss:0.097 grdn:6.188 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 18:40:03 ot_train.py:423 step:42K smpl:504K ep:2K epch:3.74 loss:0.095 grdn:6.041 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:40:11 ot_train.py:423 step:42K smpl:506K ep:2K epch:3.75 loss:0.096 grdn:6.358 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:40:19 ot_train.py:423 step:42K smpl:509K ep:2K epch:3.77 loss:0.095 grdn:5.882 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:40:27 ot_train.py:423 step:43K smpl:511K ep:2K epch:3.79 loss:0.095 grdn:6.114 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:40:36 ot_train.py:423 step:43K smpl:514K ep:2K epch:3.81 loss:0.098 grdn:6.410 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 18:40:44 ot_train.py:423 step:43K smpl:516K ep:2K epch:3.83 loss:0.098 grdn:6.539 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 18:40:52 ot_train.py:423 step:43K smpl:518K ep:2K epch:3.84 loss:0.097 grdn:6.242 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:41:00 ot_train.py:423 step:43K smpl:521K ep:2K epch:3.86 loss:0.096 grdn:5.921 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:41:09 ot_train.py:423 step:44K smpl:523K ep:2K epch:3.88 loss:0.097 grdn:6.161 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:41:17 ot_train.py:423 step:44K smpl:526K ep:2K epch:3.90 loss:0.092 grdn:5.892 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:41:25 ot_train.py:423 step:44K smpl:528K ep:2K epch:3.91 loss:0.093 grdn:6.196 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:41:33 ot_train.py:423 step:44K smpl:530K ep:2K epch:3.93 loss:0.095 grdn:6.290 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:41:42 ot_train.py:423 step:44K smpl:533K ep:2K epch:3.95 loss:0.097 grdn:6.423 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:41:50 ot_train.py:423 step:45K smpl:535K ep:2K epch:3.97 loss:0.093 grdn:5.937 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 18:41:58 ot_train.py:423 step:45K smpl:538K ep:2K epch:3.99 loss:0.094 grdn:6.013 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:42:15 ot_train.py:423 step:45K smpl:540K ep:2K epch:4.00 loss:0.094 grdn:5.751 lr:1.0e-05 updt_s:0.038 data_s:0.046
INFO 2026-03-12 18:42:46 ot_train.py:423 step:45K smpl:542K ep:2K epch:4.02 loss:0.089 grdn:5.763 lr:1.0e-05 updt_s:0.037 data_s:0.118
INFO 2026-03-12 18:43:07 ot_train.py:423 step:45K smpl:545K ep:2K epch:4.04 loss:0.091 grdn:5.757 lr:1.0e-05 updt_s:0.038 data_s:0.065
INFO 2026-03-12 18:43:20 ot_train.py:423 step:46K smpl:547K ep:2K epch:4.06 loss:0.093 grdn:6.048 lr:1.0e-05 updt_s:0.037 data_s:0.029
INFO 2026-03-12 18:43:31 ot_train.py:423 step:46K smpl:550K ep:2K epch:4.07 loss:0.092 grdn:5.839 lr:1.0e-05 updt_s:0.038 data_s:0.015
INFO 2026-03-12 18:43:40 ot_train.py:423 step:46K smpl:552K ep:2K epch:4.09 loss:0.090 grdn:5.727 lr:1.0e-05 updt_s:0.038 data_s:0.010
INFO 2026-03-12 18:43:49 ot_train.py:423 step:46K smpl:554K ep:2K epch:4.11 loss:0.090 grdn:5.860 lr:1.0e-05 updt_s:0.037 data_s:0.007
INFO 2026-03-12 18:43:57 ot_train.py:423 step:46K smpl:557K ep:2K epch:4.13 loss:0.090 grdn:5.795 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:44:05 ot_train.py:423 step:47K smpl:559K ep:2K epch:4.15 loss:0.090 grdn:5.932 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:44:13 ot_train.py:423 step:47K smpl:562K ep:2K epch:4.16 loss:0.088 grdn:5.631 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:44:21 ot_train.py:423 step:47K smpl:564K ep:2K epch:4.18 loss:0.090 grdn:5.805 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:44:29 ot_train.py:423 step:47K smpl:566K ep:2K epch:4.20 loss:0.090 grdn:5.683 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:44:38 ot_train.py:423 step:47K smpl:569K ep:2K epch:4.22 loss:0.092 grdn:5.846 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:44:46 ot_train.py:423 step:48K smpl:571K ep:2K epch:4.23 loss:0.088 grdn:5.932 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:44:54 ot_train.py:423 step:48K smpl:574K ep:2K epch:4.25 loss:0.090 grdn:5.658 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:45:02 ot_train.py:423 step:48K smpl:576K ep:2K epch:4.27 loss:0.090 grdn:5.786 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:45:11 ot_train.py:423 step:48K smpl:578K ep:2K epch:4.29 loss:0.090 grdn:5.589 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:45:19 ot_train.py:423 step:48K smpl:581K ep:2K epch:4.31 loss:0.089 grdn:5.688 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:45:28 ot_train.py:423 step:49K smpl:583K ep:2K epch:4.32 loss:0.088 grdn:5.565 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:45:36 ot_train.py:423 step:49K smpl:586K ep:2K epch:4.34 loss:0.089 grdn:5.674 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:45:45 ot_train.py:423 step:49K smpl:588K ep:2K epch:4.36 loss:0.088 grdn:5.629 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:45:54 ot_train.py:423 step:49K smpl:590K ep:2K epch:4.38 loss:0.089 grdn:5.937 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:46:02 ot_train.py:423 step:49K smpl:593K ep:2K epch:4.39 loss:0.086 grdn:5.550 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:46:10 ot_train.py:423 step:50K smpl:595K ep:2K epch:4.41 loss:0.087 grdn:5.642 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:46:19 ot_train.py:423 step:50K smpl:598K ep:2K epch:4.43 loss:0.089 grdn:5.742 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:46:27 ot_train.py:423 step:50K smpl:600K ep:2K epch:4.45 loss:0.088 grdn:5.718 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:46:27 ot_train.py:443 Checkpoint policy after step 50000
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INFO 2026-03-12 18:46:41 ot_train.py:423 step:50K smpl:602K ep:2K epch:4.47 loss:0.087 grdn:5.533 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:46:50 ot_train.py:423 step:50K smpl:605K ep:2K epch:4.48 loss:0.087 grdn:5.610 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:46:58 ot_train.py:423 step:51K smpl:607K ep:2K epch:4.50 loss:0.087 grdn:5.579 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:47:06 ot_train.py:423 step:51K smpl:610K ep:2K epch:4.52 loss:0.088 grdn:5.736 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:47:14 ot_train.py:423 step:51K smpl:612K ep:2K epch:4.54 loss:0.087 grdn:5.447 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:47:23 ot_train.py:423 step:51K smpl:614K ep:2K epch:4.55 loss:0.085 grdn:5.509 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:47:31 ot_train.py:423 step:51K smpl:617K ep:2K epch:4.57 loss:0.087 grdn:5.461 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:47:39 ot_train.py:423 step:52K smpl:619K ep:2K epch:4.59 loss:0.088 grdn:5.619 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:47:48 ot_train.py:423 step:52K smpl:622K ep:2K epch:4.61 loss:0.085 grdn:5.676 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:47:56 ot_train.py:423 step:52K smpl:624K ep:2K epch:4.63 loss:0.085 grdn:5.581 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:48:05 ot_train.py:423 step:52K smpl:626K ep:2K epch:4.64 loss:0.086 grdn:5.604 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:48:13 ot_train.py:423 step:52K smpl:629K ep:2K epch:4.66 loss:0.090 grdn:6.102 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 18:48:21 ot_train.py:423 step:53K smpl:631K ep:2K epch:4.68 loss:0.085 grdn:5.608 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:48:29 ot_train.py:423 step:53K smpl:634K ep:2K epch:4.70 loss:0.083 grdn:5.595 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:48:38 ot_train.py:423 step:53K smpl:636K ep:2K epch:4.71 loss:0.086 grdn:5.426 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:48:46 ot_train.py:423 step:53K smpl:638K ep:2K epch:4.73 loss:0.086 grdn:5.586 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 18:48:55 ot_train.py:423 step:53K smpl:641K ep:2K epch:4.75 loss:0.086 grdn:5.759 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:49:03 ot_train.py:423 step:54K smpl:643K ep:2K epch:4.77 loss:0.085 grdn:5.500 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:49:11 ot_train.py:423 step:54K smpl:646K ep:2K epch:4.79 loss:0.086 grdn:5.650 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 18:49:20 ot_train.py:423 step:54K smpl:648K ep:2K epch:4.80 loss:0.087 grdn:5.781 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:49:28 ot_train.py:423 step:54K smpl:650K ep:2K epch:4.82 loss:0.087 grdn:5.649 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:49:37 ot_train.py:423 step:54K smpl:653K ep:2K epch:4.84 loss:0.087 grdn:5.376 lr:1.0e-05 updt_s:0.040 data_s:0.004
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INFO 2026-03-12 18:49:54 ot_train.py:423 step:55K smpl:658K ep:2K epch:4.88 loss:0.082 grdn:5.270 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:50:02 ot_train.py:423 step:55K smpl:660K ep:2K epch:4.89 loss:0.084 grdn:5.316 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:50:11 ot_train.py:423 step:55K smpl:662K ep:2K epch:4.91 loss:0.083 grdn:5.445 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 18:50:21 ot_train.py:423 step:55K smpl:665K ep:2K epch:4.93 loss:0.081 grdn:5.241 lr:1.0e-05 updt_s:0.040 data_s:0.008
INFO 2026-03-12 18:50:29 ot_train.py:423 step:56K smpl:667K ep:2K epch:4.95 loss:0.082 grdn:5.403 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 18:50:37 ot_train.py:423 step:56K smpl:670K ep:2K epch:4.96 loss:0.083 grdn:5.481 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:50:46 ot_train.py:423 step:56K smpl:672K ep:2K epch:4.98 loss:0.082 grdn:5.423 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:50:54 ot_train.py:423 step:56K smpl:674K ep:2K epch:5.00 loss:0.084 grdn:5.416 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:51:32 ot_train.py:423 step:56K smpl:677K ep:2K epch:5.02 loss:0.082 grdn:5.409 lr:1.0e-05 updt_s:0.038 data_s:0.150
INFO 2026-03-12 18:51:54 ot_train.py:423 step:57K smpl:679K ep:2K epch:5.04 loss:0.080 grdn:5.156 lr:1.0e-05 updt_s:0.038 data_s:0.076
INFO 2026-03-12 18:52:09 ot_train.py:423 step:57K smpl:682K ep:2K epch:5.05 loss:0.081 grdn:5.168 lr:1.0e-05 updt_s:0.038 data_s:0.037
INFO 2026-03-12 18:52:21 ot_train.py:423 step:57K smpl:684K ep:2K epch:5.07 loss:0.081 grdn:5.426 lr:1.0e-05 updt_s:0.038 data_s:0.020
INFO 2026-03-12 18:52:30 ot_train.py:423 step:57K smpl:686K ep:2K epch:5.09 loss:0.079 grdn:5.169 lr:1.0e-05 updt_s:0.038 data_s:0.008
INFO 2026-03-12 18:52:39 ot_train.py:423 step:57K smpl:689K ep:2K epch:5.11 loss:0.080 grdn:5.320 lr:1.0e-05 updt_s:0.037 data_s:0.007
INFO 2026-03-12 18:52:48 ot_train.py:423 step:58K smpl:691K ep:2K epch:5.12 loss:0.080 grdn:5.612 lr:1.0e-05 updt_s:0.037 data_s:0.006
INFO 2026-03-12 18:52:56 ot_train.py:423 step:58K smpl:694K ep:2K epch:5.14 loss:0.080 grdn:5.134 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:53:04 ot_train.py:423 step:58K smpl:696K ep:2K epch:5.16 loss:0.081 grdn:5.386 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:53:12 ot_train.py:423 step:58K smpl:698K ep:2K epch:5.18 loss:0.081 grdn:5.613 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:53:20 ot_train.py:423 step:58K smpl:701K ep:2K epch:5.20 loss:0.081 grdn:5.427 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 18:53:28 ot_train.py:423 step:59K smpl:703K ep:2K epch:5.21 loss:0.080 grdn:5.349 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:53:36 ot_train.py:423 step:59K smpl:706K ep:2K epch:5.23 loss:0.080 grdn:5.250 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:53:45 ot_train.py:423 step:59K smpl:708K ep:2K epch:5.25 loss:0.079 grdn:5.232 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:53:53 ot_train.py:423 step:59K smpl:710K ep:2K epch:5.27 loss:0.079 grdn:4.852 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:54:01 ot_train.py:423 step:59K smpl:713K ep:2K epch:5.28 loss:0.078 grdn:5.037 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:54:10 ot_train.py:423 step:60K smpl:715K ep:2K epch:5.30 loss:0.080 grdn:5.386 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:54:18 ot_train.py:423 step:60K smpl:718K ep:2K epch:5.32 loss:0.080 grdn:5.192 lr:1.0e-05 updt_s:0.038 data_s:0.004
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INFO 2026-03-12 18:54:26 ot_train.py:443 Checkpoint policy after step 60000
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INFO 2026-03-12 18:54:39 ot_train.py:423 step:60K smpl:722K ep:3K epch:5.36 loss:0.077 grdn:5.210 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 18:54:48 ot_train.py:423 step:60K smpl:725K ep:3K epch:5.37 loss:0.078 grdn:5.292 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:54:56 ot_train.py:423 step:61K smpl:727K ep:3K epch:5.39 loss:0.080 grdn:5.377 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:55:04 ot_train.py:423 step:61K smpl:730K ep:3K epch:5.41 loss:0.080 grdn:5.254 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:55:12 ot_train.py:423 step:61K smpl:732K ep:3K epch:5.43 loss:0.079 grdn:5.136 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:55:20 ot_train.py:423 step:61K smpl:734K ep:3K epch:5.44 loss:0.078 grdn:5.140 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:55:28 ot_train.py:423 step:61K smpl:737K ep:3K epch:5.46 loss:0.078 grdn:4.975 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:55:36 ot_train.py:423 step:62K smpl:739K ep:3K epch:5.48 loss:0.079 grdn:5.120 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:55:44 ot_train.py:423 step:62K smpl:742K ep:3K epch:5.50 loss:0.077 grdn:4.974 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:55:52 ot_train.py:423 step:62K smpl:744K ep:3K epch:5.52 loss:0.078 grdn:5.205 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:56:00 ot_train.py:423 step:62K smpl:746K ep:3K epch:5.53 loss:0.079 grdn:5.322 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 18:56:09 ot_train.py:423 step:62K smpl:749K ep:3K epch:5.55 loss:0.078 grdn:5.068 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:56:17 ot_train.py:423 step:63K smpl:751K ep:3K epch:5.57 loss:0.077 grdn:5.172 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:56:25 ot_train.py:423 step:63K smpl:754K ep:3K epch:5.59 loss:0.078 grdn:5.086 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:56:33 ot_train.py:423 step:63K smpl:756K ep:3K epch:5.60 loss:0.077 grdn:5.118 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:56:41 ot_train.py:423 step:63K smpl:758K ep:3K epch:5.62 loss:0.077 grdn:5.474 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:56:49 ot_train.py:423 step:63K smpl:761K ep:3K epch:5.64 loss:0.078 grdn:4.860 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 18:56:58 ot_train.py:423 step:64K smpl:763K ep:3K epch:5.66 loss:0.078 grdn:5.154 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:57:06 ot_train.py:423 step:64K smpl:766K ep:3K epch:5.68 loss:0.078 grdn:4.990 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 18:57:15 ot_train.py:423 step:64K smpl:768K ep:3K epch:5.69 loss:0.076 grdn:4.926 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:57:23 ot_train.py:423 step:64K smpl:770K ep:3K epch:5.71 loss:0.076 grdn:4.814 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:57:32 ot_train.py:423 step:64K smpl:773K ep:3K epch:5.73 loss:0.077 grdn:4.992 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:57:41 ot_train.py:423 step:65K smpl:775K ep:3K epch:5.75 loss:0.076 grdn:4.865 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 18:57:49 ot_train.py:423 step:65K smpl:778K ep:3K epch:5.76 loss:0.077 grdn:5.211 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:57:58 ot_train.py:423 step:65K smpl:780K ep:3K epch:5.78 loss:0.077 grdn:5.172 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:58:06 ot_train.py:423 step:65K smpl:782K ep:3K epch:5.80 loss:0.076 grdn:5.227 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:58:15 ot_train.py:423 step:65K smpl:785K ep:3K epch:5.82 loss:0.076 grdn:5.117 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:58:24 ot_train.py:423 step:66K smpl:787K ep:3K epch:5.84 loss:0.077 grdn:5.023 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 18:58:32 ot_train.py:423 step:66K smpl:790K ep:3K epch:5.85 loss:0.076 grdn:4.751 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:58:41 ot_train.py:423 step:66K smpl:792K ep:3K epch:5.87 loss:0.077 grdn:5.156 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:58:49 ot_train.py:423 step:66K smpl:794K ep:3K epch:5.89 loss:0.077 grdn:5.206 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:58:58 ot_train.py:423 step:66K smpl:797K ep:3K epch:5.91 loss:0.078 grdn:5.344 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:59:06 ot_train.py:423 step:67K smpl:799K ep:3K epch:5.92 loss:0.077 grdn:5.135 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 18:59:15 ot_train.py:423 step:67K smpl:802K ep:3K epch:5.94 loss:0.077 grdn:4.813 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 18:59:23 ot_train.py:423 step:67K smpl:804K ep:3K epch:5.96 loss:0.078 grdn:5.306 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 18:59:32 ot_train.py:423 step:67K smpl:806K ep:3K epch:5.98 loss:0.078 grdn:5.162 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 18:59:40 ot_train.py:423 step:67K smpl:809K ep:3K epch:6.00 loss:0.074 grdn:4.791 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:00:14 ot_train.py:423 step:68K smpl:811K ep:3K epch:6.01 loss:0.075 grdn:5.057 lr:1.0e-05 updt_s:0.038 data_s:0.130
INFO 2026-03-12 19:00:40 ot_train.py:423 step:68K smpl:814K ep:3K epch:6.03 loss:0.074 grdn:4.963 lr:1.0e-05 updt_s:0.039 data_s:0.092
INFO 2026-03-12 19:00:55 ot_train.py:423 step:68K smpl:816K ep:3K epch:6.05 loss:0.073 grdn:4.715 lr:1.0e-05 updt_s:0.038 data_s:0.039
INFO 2026-03-12 19:01:08 ot_train.py:423 step:68K smpl:818K ep:3K epch:6.07 loss:0.073 grdn:4.996 lr:1.0e-05 updt_s:0.039 data_s:0.026
INFO 2026-03-12 19:01:20 ot_train.py:423 step:68K smpl:821K ep:3K epch:6.08 loss:0.073 grdn:4.724 lr:1.0e-05 updt_s:0.039 data_s:0.019
INFO 2026-03-12 19:01:29 ot_train.py:423 step:69K smpl:823K ep:3K epch:6.10 loss:0.073 grdn:4.904 lr:1.0e-05 updt_s:0.038 data_s:0.007
INFO 2026-03-12 19:01:38 ot_train.py:423 step:69K smpl:826K ep:3K epch:6.12 loss:0.074 grdn:5.149 lr:1.0e-05 updt_s:0.040 data_s:0.007
INFO 2026-03-12 19:01:48 ot_train.py:423 step:69K smpl:828K ep:3K epch:6.14 loss:0.074 grdn:4.799 lr:1.0e-05 updt_s:0.040 data_s:0.007
INFO 2026-03-12 19:01:57 ot_train.py:423 step:69K smpl:830K ep:3K epch:6.16 loss:0.074 grdn:5.057 lr:1.0e-05 updt_s:0.040 data_s:0.005
INFO 2026-03-12 19:02:05 ot_train.py:423 step:69K smpl:833K ep:3K epch:6.17 loss:0.072 grdn:4.964 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:02:14 ot_train.py:423 step:70K smpl:835K ep:3K epch:6.19 loss:0.073 grdn:4.730 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:02:22 ot_train.py:423 step:70K smpl:838K ep:3K epch:6.21 loss:0.072 grdn:5.020 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:02:30 ot_train.py:423 step:70K smpl:840K ep:3K epch:6.23 loss:0.074 grdn:5.041 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:02:30 ot_train.py:443 Checkpoint policy after step 70000
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INFO 2026-03-12 19:02:45 ot_train.py:423 step:70K smpl:842K ep:3K epch:6.25 loss:0.071 grdn:4.734 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:02:53 ot_train.py:423 step:70K smpl:845K ep:3K epch:6.26 loss:0.072 grdn:4.723 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:03:02 ot_train.py:423 step:71K smpl:847K ep:3K epch:6.28 loss:0.073 grdn:4.642 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:03:10 ot_train.py:423 step:71K smpl:850K ep:3K epch:6.30 loss:0.073 grdn:4.956 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:03:18 ot_train.py:423 step:71K smpl:852K ep:3K epch:6.32 loss:0.073 grdn:4.816 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:03:28 ot_train.py:423 step:71K smpl:854K ep:3K epch:6.33 loss:0.074 grdn:5.085 lr:1.0e-05 updt_s:0.039 data_s:0.007
INFO 2026-03-12 19:03:36 ot_train.py:423 step:71K smpl:857K ep:3K epch:6.35 loss:0.071 grdn:4.969 lr:1.0e-05 updt_s:0.039 data_s:0.006
INFO 2026-03-12 19:03:45 ot_train.py:423 step:72K smpl:859K ep:3K epch:6.37 loss:0.073 grdn:4.944 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:03:53 ot_train.py:423 step:72K smpl:862K ep:3K epch:6.39 loss:0.072 grdn:4.688 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:04:02 ot_train.py:423 step:72K smpl:864K ep:3K epch:6.41 loss:0.073 grdn:4.663 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:04:10 ot_train.py:423 step:72K smpl:866K ep:3K epch:6.42 loss:0.075 grdn:4.973 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:04:19 ot_train.py:423 step:72K smpl:869K ep:3K epch:6.44 loss:0.073 grdn:4.836 lr:1.0e-05 updt_s:0.039 data_s:0.006
INFO 2026-03-12 19:04:28 ot_train.py:423 step:73K smpl:871K ep:3K epch:6.46 loss:0.071 grdn:4.571 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:04:36 ot_train.py:423 step:73K smpl:874K ep:3K epch:6.48 loss:0.070 grdn:4.513 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:04:45 ot_train.py:423 step:73K smpl:876K ep:3K epch:6.49 loss:0.072 grdn:4.888 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:04:54 ot_train.py:423 step:73K smpl:878K ep:3K epch:6.51 loss:0.072 grdn:4.727 lr:1.0e-05 updt_s:0.039 data_s:0.006
INFO 2026-03-12 19:05:02 ot_train.py:423 step:73K smpl:881K ep:3K epch:6.53 loss:0.071 grdn:4.976 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:05:11 ot_train.py:423 step:74K smpl:883K ep:3K epch:6.55 loss:0.072 grdn:4.678 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:05:20 ot_train.py:423 step:74K smpl:886K ep:3K epch:6.57 loss:0.072 grdn:4.771 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:05:28 ot_train.py:423 step:74K smpl:888K ep:3K epch:6.58 loss:0.071 grdn:4.643 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:05:37 ot_train.py:423 step:74K smpl:890K ep:3K epch:6.60 loss:0.070 grdn:4.570 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:05:46 ot_train.py:423 step:74K smpl:893K ep:3K epch:6.62 loss:0.072 grdn:5.017 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:05:54 ot_train.py:423 step:75K smpl:895K ep:3K epch:6.64 loss:0.072 grdn:4.808 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:06:03 ot_train.py:423 step:75K smpl:898K ep:3K epch:6.65 loss:0.072 grdn:4.704 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:06:11 ot_train.py:423 step:75K smpl:900K ep:3K epch:6.67 loss:0.070 grdn:4.564 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 19:06:20 ot_train.py:423 step:75K smpl:902K ep:3K epch:6.69 loss:0.071 grdn:4.603 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:06:28 ot_train.py:423 step:75K smpl:905K ep:3K epch:6.71 loss:0.070 grdn:4.503 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:06:37 ot_train.py:423 step:76K smpl:907K ep:3K epch:6.73 loss:0.070 grdn:4.725 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:06:45 ot_train.py:423 step:76K smpl:910K ep:3K epch:6.74 loss:0.071 grdn:4.850 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:06:53 ot_train.py:423 step:76K smpl:912K ep:3K epch:6.76 loss:0.070 grdn:4.649 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:07:02 ot_train.py:423 step:76K smpl:914K ep:3K epch:6.78 loss:0.071 grdn:4.685 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:07:10 ot_train.py:423 step:76K smpl:917K ep:3K epch:6.80 loss:0.072 grdn:4.914 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:07:19 ot_train.py:423 step:77K smpl:919K ep:3K epch:6.81 loss:0.070 grdn:4.614 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:07:27 ot_train.py:423 step:77K smpl:922K ep:3K epch:6.83 loss:0.070 grdn:4.527 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:07:36 ot_train.py:423 step:77K smpl:924K ep:3K epch:6.85 loss:0.069 grdn:4.464 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:07:44 ot_train.py:423 step:77K smpl:926K ep:3K epch:6.87 loss:0.069 grdn:4.641 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 19:07:52 ot_train.py:423 step:77K smpl:929K ep:3K epch:6.89 loss:0.071 grdn:4.531 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:08:01 ot_train.py:423 step:78K smpl:931K ep:3K epch:6.90 loss:0.071 grdn:4.662 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:08:09 ot_train.py:423 step:78K smpl:934K ep:3K epch:6.92 loss:0.071 grdn:4.670 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:08:18 ot_train.py:423 step:78K smpl:936K ep:3K epch:6.94 loss:0.069 grdn:4.523 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:08:26 ot_train.py:423 step:78K smpl:938K ep:3K epch:6.96 loss:0.071 grdn:4.631 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:08:34 ot_train.py:423 step:78K smpl:941K ep:3K epch:6.97 loss:0.071 grdn:4.749 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:08:43 ot_train.py:423 step:79K smpl:943K ep:3K epch:6.99 loss:0.069 grdn:4.480 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:09:12 ot_train.py:423 step:79K smpl:946K ep:3K epch:7.01 loss:0.069 grdn:4.380 lr:1.0e-05 updt_s:0.037 data_s:0.110
INFO 2026-03-12 19:09:40 ot_train.py:423 step:79K smpl:948K ep:3K epch:7.03 loss:0.069 grdn:4.490 lr:1.0e-05 updt_s:0.037 data_s:0.103
INFO 2026-03-12 19:09:57 ot_train.py:423 step:79K smpl:950K ep:3K epch:7.05 loss:0.068 grdn:4.672 lr:1.0e-05 updt_s:0.037 data_s:0.046
INFO 2026-03-12 19:10:10 ot_train.py:423 step:79K smpl:953K ep:3K epch:7.06 loss:0.068 grdn:4.570 lr:1.0e-05 updt_s:0.038 data_s:0.028
INFO 2026-03-12 19:10:21 ot_train.py:423 step:80K smpl:955K ep:3K epch:7.08 loss:0.069 grdn:4.585 lr:1.0e-05 updt_s:0.038 data_s:0.016
INFO 2026-03-12 19:10:29 ot_train.py:423 step:80K smpl:958K ep:3K epch:7.10 loss:0.068 grdn:4.434 lr:1.0e-05 updt_s:0.036 data_s:0.004
INFO 2026-03-12 19:10:37 ot_train.py:423 step:80K smpl:960K ep:3K epch:7.12 loss:0.069 grdn:4.837 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:10:37 ot_train.py:443 Checkpoint policy after step 80000
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INFO 2026-03-12 19:10:51 ot_train.py:423 step:80K smpl:962K ep:3K epch:7.13 loss:0.066 grdn:4.312 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:10:59 ot_train.py:423 step:80K smpl:965K ep:3K epch:7.15 loss:0.068 grdn:4.503 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:11:07 ot_train.py:423 step:81K smpl:967K ep:3K epch:7.17 loss:0.068 grdn:4.739 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:11:16 ot_train.py:423 step:81K smpl:970K ep:3K epch:7.19 loss:0.068 grdn:4.838 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:11:24 ot_train.py:423 step:81K smpl:972K ep:3K epch:7.21 loss:0.068 grdn:4.389 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:11:33 ot_train.py:423 step:81K smpl:974K ep:3K epch:7.22 loss:0.066 grdn:4.379 lr:1.0e-05 updt_s:0.040 data_s:0.005
INFO 2026-03-12 19:11:42 ot_train.py:423 step:81K smpl:977K ep:3K epch:7.24 loss:0.068 grdn:4.458 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 19:11:51 ot_train.py:423 step:82K smpl:979K ep:3K epch:7.26 loss:0.069 grdn:4.799 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:11:59 ot_train.py:423 step:82K smpl:982K ep:3K epch:7.28 loss:0.067 grdn:4.232 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:12:08 ot_train.py:423 step:82K smpl:984K ep:3K epch:7.29 loss:0.068 grdn:4.512 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:12:17 ot_train.py:423 step:82K smpl:986K ep:3K epch:7.31 loss:0.068 grdn:4.405 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:12:26 ot_train.py:423 step:82K smpl:989K ep:3K epch:7.33 loss:0.066 grdn:4.456 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:12:34 ot_train.py:423 step:83K smpl:991K ep:3K epch:7.35 loss:0.066 grdn:4.215 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:12:43 ot_train.py:423 step:83K smpl:994K ep:3K epch:7.37 loss:0.067 grdn:4.613 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:12:51 ot_train.py:423 step:83K smpl:996K ep:3K epch:7.38 loss:0.068 grdn:4.569 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:12:59 ot_train.py:423 step:83K smpl:998K ep:3K epch:7.40 loss:0.068 grdn:4.556 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:13:08 ot_train.py:423 step:83K smpl:1M ep:3K epch:7.42 loss:0.067 grdn:4.398 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:13:16 ot_train.py:423 step:84K smpl:1M ep:3K epch:7.44 loss:0.069 grdn:4.641 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:13:25 ot_train.py:423 step:84K smpl:1M ep:3K epch:7.45 loss:0.068 grdn:4.489 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:13:33 ot_train.py:423 step:84K smpl:1M ep:4K epch:7.47 loss:0.067 grdn:4.449 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:13:42 ot_train.py:423 step:84K smpl:1M ep:4K epch:7.49 loss:0.067 grdn:4.571 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:13:50 ot_train.py:423 step:84K smpl:1M ep:4K epch:7.51 loss:0.066 grdn:4.380 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:13:59 ot_train.py:423 step:85K smpl:1M ep:4K epch:7.53 loss:0.066 grdn:4.409 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 19:14:07 ot_train.py:423 step:85K smpl:1M ep:4K epch:7.54 loss:0.065 grdn:4.259 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:14:16 ot_train.py:423 step:85K smpl:1M ep:4K epch:7.56 loss:0.066 grdn:4.299 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:14:24 ot_train.py:423 step:85K smpl:1M ep:4K epch:7.58 loss:0.066 grdn:4.344 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:14:33 ot_train.py:423 step:85K smpl:1M ep:4K epch:7.60 loss:0.067 grdn:4.563 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:14:41 ot_train.py:423 step:86K smpl:1M ep:4K epch:7.62 loss:0.066 grdn:4.523 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:14:50 ot_train.py:423 step:86K smpl:1M ep:4K epch:7.63 loss:0.066 grdn:4.554 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:14:59 ot_train.py:423 step:86K smpl:1M ep:4K epch:7.65 loss:0.067 grdn:4.591 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:15:07 ot_train.py:423 step:86K smpl:1M ep:4K epch:7.67 loss:0.065 grdn:4.508 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:15:15 ot_train.py:423 step:86K smpl:1M ep:4K epch:7.69 loss:0.066 grdn:4.375 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:15:24 ot_train.py:423 step:87K smpl:1M ep:4K epch:7.70 loss:0.065 grdn:4.155 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:15:33 ot_train.py:423 step:87K smpl:1M ep:4K epch:7.72 loss:0.064 grdn:4.166 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:15:42 ot_train.py:423 step:87K smpl:1M ep:4K epch:7.74 loss:0.066 grdn:4.439 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:15:51 ot_train.py:423 step:87K smpl:1M ep:4K epch:7.76 loss:0.066 grdn:4.323 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 19:15:59 ot_train.py:423 step:87K smpl:1M ep:4K epch:7.78 loss:0.067 grdn:4.594 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:16:07 ot_train.py:423 step:88K smpl:1M ep:4K epch:7.79 loss:0.067 grdn:4.292 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:16:16 ot_train.py:423 step:88K smpl:1M ep:4K epch:7.81 loss:0.065 grdn:4.165 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:16:24 ot_train.py:423 step:88K smpl:1M ep:4K epch:7.83 loss:0.065 grdn:4.276 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:16:33 ot_train.py:423 step:88K smpl:1M ep:4K epch:7.85 loss:0.066 grdn:4.511 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:16:41 ot_train.py:423 step:88K smpl:1M ep:4K epch:7.86 loss:0.066 grdn:4.289 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 19:16:49 ot_train.py:423 step:89K smpl:1M ep:4K epch:7.88 loss:0.065 grdn:4.256 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:16:57 ot_train.py:423 step:89K smpl:1M ep:4K epch:7.90 loss:0.064 grdn:4.114 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:17:05 ot_train.py:423 step:89K smpl:1M ep:4K epch:7.92 loss:0.065 grdn:4.388 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:17:13 ot_train.py:423 step:89K smpl:1M ep:4K epch:7.94 loss:0.064 grdn:4.161 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:17:22 ot_train.py:423 step:89K smpl:1M ep:4K epch:7.95 loss:0.068 grdn:4.175 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:17:30 ot_train.py:423 step:90K smpl:1M ep:4K epch:7.97 loss:0.065 grdn:4.071 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:17:38 ot_train.py:423 step:90K smpl:1M ep:4K epch:7.99 loss:0.063 grdn:4.206 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:18:01 ot_train.py:423 step:90K smpl:1M ep:4K epch:8.01 loss:0.065 grdn:4.204 lr:1.0e-05 updt_s:0.038 data_s:0.077
INFO 2026-03-12 19:18:01 ot_train.py:443 Checkpoint policy after step 90000
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INFO 2026-03-12 19:18:32 ot_train.py:423 step:90K smpl:1M ep:4K epch:8.02 loss:0.063 grdn:4.240 lr:1.0e-05 updt_s:0.039 data_s:0.091
INFO 2026-03-12 19:18:52 ot_train.py:423 step:90K smpl:1M ep:4K epch:8.04 loss:0.066 grdn:4.465 lr:1.0e-05 updt_s:0.039 data_s:0.059
INFO 2026-03-12 19:19:05 ot_train.py:423 step:91K smpl:1M ep:4K epch:8.06 loss:0.064 grdn:4.308 lr:1.0e-05 updt_s:0.037 data_s:0.027
INFO 2026-03-12 19:19:16 ot_train.py:423 step:91K smpl:1M ep:4K epch:8.08 loss:0.063 grdn:4.022 lr:1.0e-05 updt_s:0.037 data_s:0.019
INFO 2026-03-12 19:19:25 ot_train.py:423 step:91K smpl:1M ep:4K epch:8.10 loss:0.064 grdn:4.260 lr:1.0e-05 updt_s:0.038 data_s:0.008
INFO 2026-03-12 19:19:34 ot_train.py:423 step:91K smpl:1M ep:4K epch:8.11 loss:0.063 grdn:4.222 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:19:42 ot_train.py:423 step:91K smpl:1M ep:4K epch:8.13 loss:0.063 grdn:4.077 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:19:51 ot_train.py:423 step:92K smpl:1M ep:4K epch:8.15 loss:0.062 grdn:4.117 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:19:59 ot_train.py:423 step:92K smpl:1M ep:4K epch:8.17 loss:0.063 grdn:3.966 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:20:07 ot_train.py:423 step:92K smpl:1M ep:4K epch:8.18 loss:0.064 grdn:4.380 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 19:20:15 ot_train.py:423 step:92K smpl:1M ep:4K epch:8.20 loss:0.063 grdn:4.180 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:20:24 ot_train.py:423 step:92K smpl:1M ep:4K epch:8.22 loss:0.063 grdn:4.315 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:20:32 ot_train.py:423 step:93K smpl:1M ep:4K epch:8.24 loss:0.063 grdn:3.983 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:20:40 ot_train.py:423 step:93K smpl:1M ep:4K epch:8.26 loss:0.064 grdn:4.478 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:20:48 ot_train.py:423 step:93K smpl:1M ep:4K epch:8.27 loss:0.063 grdn:4.196 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:20:56 ot_train.py:423 step:93K smpl:1M ep:4K epch:8.29 loss:0.063 grdn:4.199 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 19:21:04 ot_train.py:423 step:93K smpl:1M ep:4K epch:8.31 loss:0.063 grdn:4.059 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:21:13 ot_train.py:423 step:94K smpl:1M ep:4K epch:8.33 loss:0.062 grdn:4.190 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:21:21 ot_train.py:423 step:94K smpl:1M ep:4K epch:8.34 loss:0.062 grdn:3.858 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:21:30 ot_train.py:423 step:94K smpl:1M ep:4K epch:8.36 loss:0.063 grdn:4.044 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:21:38 ot_train.py:423 step:94K smpl:1M ep:4K epch:8.38 loss:0.062 grdn:4.187 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:21:47 ot_train.py:423 step:94K smpl:1M ep:4K epch:8.40 loss:0.063 grdn:4.156 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:21:55 ot_train.py:423 step:95K smpl:1M ep:4K epch:8.42 loss:0.063 grdn:4.008 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:22:03 ot_train.py:423 step:95K smpl:1M ep:4K epch:8.43 loss:0.064 grdn:4.164 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:22:11 ot_train.py:423 step:95K smpl:1M ep:4K epch:8.45 loss:0.063 grdn:4.240 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:22:20 ot_train.py:423 step:95K smpl:1M ep:4K epch:8.47 loss:0.063 grdn:4.182 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:22:28 ot_train.py:423 step:95K smpl:1M ep:4K epch:8.49 loss:0.062 grdn:4.102 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:22:36 ot_train.py:423 step:96K smpl:1M ep:4K epch:8.50 loss:0.062 grdn:4.222 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 19:22:45 ot_train.py:423 step:96K smpl:1M ep:4K epch:8.52 loss:0.062 grdn:4.056 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:22:53 ot_train.py:423 step:96K smpl:1M ep:4K epch:8.54 loss:0.063 grdn:4.113 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:23:02 ot_train.py:423 step:96K smpl:1M ep:4K epch:8.56 loss:0.062 grdn:3.887 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:23:10 ot_train.py:423 step:96K smpl:1M ep:4K epch:8.58 loss:0.062 grdn:4.229 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:23:18 ot_train.py:423 step:97K smpl:1M ep:4K epch:8.59 loss:0.062 grdn:4.007 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:23:27 ot_train.py:423 step:97K smpl:1M ep:4K epch:8.61 loss:0.063 grdn:4.130 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:23:35 ot_train.py:423 step:97K smpl:1M ep:4K epch:8.63 loss:0.062 grdn:4.218 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:23:44 ot_train.py:423 step:97K smpl:1M ep:4K epch:8.65 loss:0.063 grdn:4.063 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:23:52 ot_train.py:423 step:97K smpl:1M ep:4K epch:8.66 loss:0.062 grdn:3.962 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:24:01 ot_train.py:423 step:98K smpl:1M ep:4K epch:8.68 loss:0.062 grdn:4.126 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:24:09 ot_train.py:423 step:98K smpl:1M ep:4K epch:8.70 loss:0.063 grdn:4.126 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:24:17 ot_train.py:423 step:98K smpl:1M ep:4K epch:8.72 loss:0.063 grdn:4.054 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:24:25 ot_train.py:423 step:98K smpl:1M ep:4K epch:8.74 loss:0.062 grdn:4.106 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 19:24:34 ot_train.py:423 step:98K smpl:1M ep:4K epch:8.75 loss:0.060 grdn:3.958 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:24:42 ot_train.py:423 step:99K smpl:1M ep:4K epch:8.77 loss:0.062 grdn:3.988 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:24:51 ot_train.py:423 step:99K smpl:1M ep:4K epch:8.79 loss:0.062 grdn:4.141 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:24:59 ot_train.py:423 step:99K smpl:1M ep:4K epch:8.81 loss:0.060 grdn:3.860 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:25:07 ot_train.py:423 step:99K smpl:1M ep:4K epch:8.82 loss:0.061 grdn:4.102 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 19:25:15 ot_train.py:423 step:99K smpl:1M ep:4K epch:8.84 loss:0.061 grdn:4.156 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:25:23 ot_train.py:423 step:100K smpl:1M ep:4K epch:8.86 loss:0.061 grdn:4.140 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:25:32 ot_train.py:423 step:100K smpl:1M ep:4K epch:8.88 loss:0.062 grdn:4.258 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:25:40 ot_train.py:423 step:100K smpl:1M ep:4K epch:8.90 loss:0.060 grdn:3.787 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:25:40 ot_train.py:443 Checkpoint policy after step 100000
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INFO 2026-03-12 19:25:46 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 100000) OK
[Avatar] Tagged as 'step-100000'
INFO 2026-03-12 19:25:55 ot_train.py:423 step:100K smpl:1M ep:4K epch:8.91 loss:0.061 grdn:4.086 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:26:04 ot_train.py:423 step:100K smpl:1M ep:4K epch:8.93 loss:0.061 grdn:4.072 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:26:12 ot_train.py:423 step:101K smpl:1M ep:4K epch:8.95 loss:0.060 grdn:3.982 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:26:20 ot_train.py:423 step:101K smpl:1M ep:4K epch:8.97 loss:0.060 grdn:3.821 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:26:29 ot_train.py:423 step:101K smpl:1M ep:4K epch:8.99 loss:0.061 grdn:3.946 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:26:44 ot_train.py:423 step:101K smpl:1M ep:4K epch:9.00 loss:0.060 grdn:4.031 lr:1.0e-05 updt_s:0.039 data_s:0.040
INFO 2026-03-12 19:27:17 ot_train.py:423 step:101K smpl:1M ep:4K epch:9.02 loss:0.059 grdn:3.857 lr:1.0e-05 updt_s:0.038 data_s:0.126
INFO 2026-03-12 19:27:37 ot_train.py:423 step:102K smpl:1M ep:4K epch:9.04 loss:0.060 grdn:3.921 lr:1.0e-05 updt_s:0.038 data_s:0.061
INFO 2026-03-12 19:27:52 ot_train.py:423 step:102K smpl:1M ep:4K epch:9.06 loss:0.059 grdn:3.733 lr:1.0e-05 updt_s:0.037 data_s:0.036
INFO 2026-03-12 19:28:03 ot_train.py:423 step:102K smpl:1M ep:4K epch:9.07 loss:0.060 grdn:4.067 lr:1.0e-05 updt_s:0.038 data_s:0.018
INFO 2026-03-12 19:28:13 ot_train.py:423 step:102K smpl:1M ep:4K epch:9.09 loss:0.061 grdn:4.264 lr:1.0e-05 updt_s:0.038 data_s:0.012
INFO 2026-03-12 19:28:21 ot_train.py:423 step:102K smpl:1M ep:4K epch:9.11 loss:0.061 grdn:3.952 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:28:29 ot_train.py:423 step:103K smpl:1M ep:4K epch:9.13 loss:0.060 grdn:4.110 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 19:28:37 ot_train.py:423 step:103K smpl:1M ep:4K epch:9.15 loss:0.060 grdn:3.816 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:28:45 ot_train.py:423 step:103K smpl:1M ep:4K epch:9.16 loss:0.061 grdn:4.074 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:28:54 ot_train.py:423 step:103K smpl:1M ep:4K epch:9.18 loss:0.060 grdn:4.283 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:29:01 ot_train.py:423 step:103K smpl:1M ep:4K epch:9.20 loss:0.059 grdn:3.976 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 19:29:09 ot_train.py:423 step:104K smpl:1M ep:4K epch:9.22 loss:0.061 grdn:4.061 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:29:18 ot_train.py:423 step:104K smpl:1M ep:4K epch:9.23 loss:0.060 grdn:3.873 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:29:26 ot_train.py:423 step:104K smpl:1M ep:4K epch:9.25 loss:0.061 grdn:3.980 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:29:35 ot_train.py:423 step:104K smpl:1M ep:4K epch:9.27 loss:0.060 grdn:4.095 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:29:43 ot_train.py:423 step:104K smpl:1M ep:4K epch:9.29 loss:0.060 grdn:4.043 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:29:52 ot_train.py:423 step:105K smpl:1M ep:4K epch:9.31 loss:0.059 grdn:3.945 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:30:00 ot_train.py:423 step:105K smpl:1M ep:4K epch:9.32 loss:0.060 grdn:4.127 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:30:09 ot_train.py:423 step:105K smpl:1M ep:4K epch:9.34 loss:0.059 grdn:3.861 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:30:17 ot_train.py:423 step:105K smpl:1M ep:4K epch:9.36 loss:0.061 grdn:4.091 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:30:26 ot_train.py:423 step:105K smpl:1M ep:4K epch:9.38 loss:0.059 grdn:3.779 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:30:35 ot_train.py:423 step:106K smpl:1M ep:4K epch:9.39 loss:0.059 grdn:3.868 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:30:43 ot_train.py:423 step:106K smpl:1M ep:4K epch:9.41 loss:0.058 grdn:3.861 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:30:52 ot_train.py:423 step:106K smpl:1M ep:4K epch:9.43 loss:0.059 grdn:3.744 lr:1.0e-05 updt_s:0.038 data_s:0.006
INFO 2026-03-12 19:31:00 ot_train.py:423 step:106K smpl:1M ep:4K epch:9.45 loss:0.058 grdn:3.736 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:31:09 ot_train.py:423 step:106K smpl:1M ep:4K epch:9.47 loss:0.060 grdn:3.836 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:31:17 ot_train.py:423 step:107K smpl:1M ep:4K epch:9.48 loss:0.060 grdn:3.927 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 19:31:25 ot_train.py:423 step:107K smpl:1M ep:4K epch:9.50 loss:0.058 grdn:3.840 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:31:34 ot_train.py:423 step:107K smpl:1M ep:4K epch:9.52 loss:0.060 grdn:3.739 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:31:42 ot_train.py:423 step:107K smpl:1M ep:4K epch:9.54 loss:0.059 grdn:3.802 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:31:50 ot_train.py:423 step:107K smpl:1M ep:4K epch:9.55 loss:0.058 grdn:3.828 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:31:58 ot_train.py:423 step:108K smpl:1M ep:4K epch:9.57 loss:0.059 grdn:3.883 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:32:07 ot_train.py:423 step:108K smpl:1M ep:4K epch:9.59 loss:0.059 grdn:3.981 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:32:15 ot_train.py:423 step:108K smpl:1M ep:5K epch:9.61 loss:0.060 grdn:3.908 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:32:23 ot_train.py:423 step:108K smpl:1M ep:5K epch:9.63 loss:0.059 grdn:3.807 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:32:31 ot_train.py:423 step:108K smpl:1M ep:5K epch:9.64 loss:0.058 grdn:3.779 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:32:40 ot_train.py:423 step:109K smpl:1M ep:5K epch:9.66 loss:0.058 grdn:3.832 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 19:32:48 ot_train.py:423 step:109K smpl:1M ep:5K epch:9.68 loss:0.058 grdn:3.714 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:32:56 ot_train.py:423 step:109K smpl:1M ep:5K epch:9.70 loss:0.059 grdn:3.763 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:33:05 ot_train.py:423 step:109K smpl:1M ep:5K epch:9.71 loss:0.060 grdn:3.935 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:33:13 ot_train.py:423 step:109K smpl:1M ep:5K epch:9.73 loss:0.058 grdn:3.707 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:33:22 ot_train.py:423 step:110K smpl:1M ep:5K epch:9.75 loss:0.059 grdn:3.930 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:33:30 ot_train.py:423 step:110K smpl:1M ep:5K epch:9.77 loss:0.058 grdn:3.667 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:33:39 ot_train.py:423 step:110K smpl:1M ep:5K epch:9.79 loss:0.058 grdn:3.716 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:33:39 ot_train.py:443 Checkpoint policy after step 110000
[Avatar] Pushing checkpoint (step 110000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 19:33:44 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 110000) OK
[Avatar] Tagged as 'step-110000'
INFO 2026-03-12 19:33:54 ot_train.py:423 step:110K smpl:1M ep:5K epch:9.80 loss:0.059 grdn:3.720 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:34:03 ot_train.py:423 step:110K smpl:1M ep:5K epch:9.82 loss:0.059 grdn:3.882 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:34:11 ot_train.py:423 step:111K smpl:1M ep:5K epch:9.84 loss:0.057 grdn:3.582 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:34:19 ot_train.py:423 step:111K smpl:1M ep:5K epch:9.86 loss:0.059 grdn:3.846 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:34:28 ot_train.py:423 step:111K smpl:1M ep:5K epch:9.87 loss:0.058 grdn:3.734 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:34:36 ot_train.py:423 step:111K smpl:1M ep:5K epch:9.89 loss:0.058 grdn:3.736 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:34:45 ot_train.py:423 step:111K smpl:1M ep:5K epch:9.91 loss:0.058 grdn:3.712 lr:1.0e-05 updt_s:0.041 data_s:0.004
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INFO 2026-03-12 19:35:03 ot_train.py:423 step:112K smpl:1M ep:5K epch:9.95 loss:0.058 grdn:3.714 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:35:11 ot_train.py:423 step:112K smpl:1M ep:5K epch:9.96 loss:0.058 grdn:3.721 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:35:20 ot_train.py:423 step:112K smpl:1M ep:5K epch:9.98 loss:0.058 grdn:3.697 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:35:29 ot_train.py:423 step:112K smpl:1M ep:5K epch:10.00 loss:0.057 grdn:3.766 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:36:06 ot_train.py:423 step:113K smpl:1M ep:5K epch:10.02 loss:0.057 grdn:3.758 lr:1.0e-05 updt_s:0.038 data_s:0.148
INFO 2026-03-12 19:36:28 ot_train.py:423 step:113K smpl:1M ep:5K epch:10.03 loss:0.056 grdn:3.613 lr:1.0e-05 updt_s:0.037 data_s:0.075
INFO 2026-03-12 19:36:43 ot_train.py:423 step:113K smpl:1M ep:5K epch:10.05 loss:0.057 grdn:3.614 lr:1.0e-05 updt_s:0.037 data_s:0.038
INFO 2026-03-12 19:36:54 ot_train.py:423 step:113K smpl:1M ep:5K epch:10.07 loss:0.057 grdn:3.773 lr:1.0e-05 updt_s:0.036 data_s:0.020
INFO 2026-03-12 19:37:04 ot_train.py:423 step:113K smpl:1M ep:5K epch:10.09 loss:0.057 grdn:3.843 lr:1.0e-05 updt_s:0.038 data_s:0.011
INFO 2026-03-12 19:37:13 ot_train.py:423 step:114K smpl:1M ep:5K epch:10.11 loss:0.057 grdn:3.742 lr:1.0e-05 updt_s:0.038 data_s:0.007
INFO 2026-03-12 19:37:22 ot_train.py:423 step:114K smpl:1M ep:5K epch:10.12 loss:0.057 grdn:3.702 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 19:37:30 ot_train.py:423 step:114K smpl:1M ep:5K epch:10.14 loss:0.057 grdn:3.552 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:37:38 ot_train.py:423 step:114K smpl:1M ep:5K epch:10.16 loss:0.056 grdn:3.613 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 19:37:47 ot_train.py:423 step:114K smpl:1M ep:5K epch:10.18 loss:0.057 grdn:3.568 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:37:55 ot_train.py:423 step:115K smpl:1M ep:5K epch:10.19 loss:0.058 grdn:3.831 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:38:03 ot_train.py:423 step:115K smpl:1M ep:5K epch:10.21 loss:0.056 grdn:3.551 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:38:11 ot_train.py:423 step:115K smpl:1M ep:5K epch:10.23 loss:0.058 grdn:3.910 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 19:38:20 ot_train.py:423 step:115K smpl:1M ep:5K epch:10.25 loss:0.057 grdn:3.663 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:38:29 ot_train.py:423 step:115K smpl:1M ep:5K epch:10.27 loss:0.056 grdn:3.682 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:38:37 ot_train.py:423 step:116K smpl:1M ep:5K epch:10.28 loss:0.056 grdn:3.553 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:38:45 ot_train.py:423 step:116K smpl:1M ep:5K epch:10.30 loss:0.055 grdn:3.500 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:38:53 ot_train.py:423 step:116K smpl:1M ep:5K epch:10.32 loss:0.056 grdn:3.708 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:39:02 ot_train.py:423 step:116K smpl:1M ep:5K epch:10.34 loss:0.056 grdn:3.617 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:39:11 ot_train.py:423 step:116K smpl:1M ep:5K epch:10.36 loss:0.057 grdn:3.686 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:39:19 ot_train.py:423 step:117K smpl:1M ep:5K epch:10.37 loss:0.057 grdn:3.744 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:39:28 ot_train.py:423 step:117K smpl:1M ep:5K epch:10.39 loss:0.056 grdn:3.589 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:39:36 ot_train.py:423 step:117K smpl:1M ep:5K epch:10.41 loss:0.056 grdn:3.683 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 19:39:44 ot_train.py:423 step:117K smpl:1M ep:5K epch:10.43 loss:0.057 grdn:3.705 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 19:39:53 ot_train.py:423 step:117K smpl:1M ep:5K epch:10.44 loss:0.056 grdn:3.635 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:40:01 ot_train.py:423 step:118K smpl:1M ep:5K epch:10.46 loss:0.056 grdn:3.600 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:40:10 ot_train.py:423 step:118K smpl:1M ep:5K epch:10.48 loss:0.056 grdn:3.589 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:40:18 ot_train.py:423 step:118K smpl:1M ep:5K epch:10.50 loss:0.056 grdn:3.780 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:40:26 ot_train.py:423 step:118K smpl:1M ep:5K epch:10.52 loss:0.056 grdn:3.613 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 19:40:35 ot_train.py:423 step:118K smpl:1M ep:5K epch:10.53 loss:0.055 grdn:3.584 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:40:43 ot_train.py:423 step:119K smpl:1M ep:5K epch:10.55 loss:0.056 grdn:3.630 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:40:52 ot_train.py:423 step:119K smpl:1M ep:5K epch:10.57 loss:0.057 grdn:3.786 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:41:00 ot_train.py:423 step:119K smpl:1M ep:5K epch:10.59 loss:0.057 grdn:3.494 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:41:08 ot_train.py:423 step:119K smpl:1M ep:5K epch:10.60 loss:0.055 grdn:3.520 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:41:16 ot_train.py:423 step:119K smpl:1M ep:5K epch:10.62 loss:0.055 grdn:3.508 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:41:25 ot_train.py:423 step:120K smpl:1M ep:5K epch:10.64 loss:0.057 grdn:3.458 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:41:34 ot_train.py:423 step:120K smpl:1M ep:5K epch:10.66 loss:0.056 grdn:3.584 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:41:42 ot_train.py:423 step:120K smpl:1M ep:5K epch:10.68 loss:0.056 grdn:3.702 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:41:42 ot_train.py:443 Checkpoint policy after step 120000
[Avatar] Pushing checkpoint (step 120000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 19:41:48 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 120000) OK
[Avatar] Tagged as 'step-120000'
INFO 2026-03-12 19:41:58 ot_train.py:423 step:120K smpl:1M ep:5K epch:10.69 loss:0.056 grdn:3.459 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:42:06 ot_train.py:423 step:120K smpl:1M ep:5K epch:10.71 loss:0.055 grdn:3.581 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:42:15 ot_train.py:423 step:121K smpl:1M ep:5K epch:10.73 loss:0.055 grdn:3.483 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:42:23 ot_train.py:423 step:121K smpl:1M ep:5K epch:10.75 loss:0.056 grdn:3.466 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:42:31 ot_train.py:423 step:121K smpl:1M ep:5K epch:10.76 loss:0.056 grdn:3.806 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:42:40 ot_train.py:423 step:121K smpl:1M ep:5K epch:10.78 loss:0.056 grdn:3.518 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:42:48 ot_train.py:423 step:121K smpl:1M ep:5K epch:10.80 loss:0.055 grdn:3.586 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:42:56 ot_train.py:423 step:122K smpl:1M ep:5K epch:10.82 loss:0.056 grdn:3.468 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:43:05 ot_train.py:423 step:122K smpl:1M ep:5K epch:10.84 loss:0.054 grdn:3.524 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:43:13 ot_train.py:423 step:122K smpl:1M ep:5K epch:10.85 loss:0.055 grdn:3.559 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:43:21 ot_train.py:423 step:122K smpl:1M ep:5K epch:10.87 loss:0.056 grdn:3.435 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:43:29 ot_train.py:423 step:122K smpl:1M ep:5K epch:10.89 loss:0.056 grdn:3.591 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:43:37 ot_train.py:423 step:123K smpl:1M ep:5K epch:10.91 loss:0.054 grdn:3.534 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:43:45 ot_train.py:423 step:123K smpl:1M ep:5K epch:10.92 loss:0.055 grdn:3.520 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:43:53 ot_train.py:423 step:123K smpl:1M ep:5K epch:10.94 loss:0.056 grdn:3.387 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 19:44:02 ot_train.py:423 step:123K smpl:1M ep:5K epch:10.96 loss:0.057 grdn:3.506 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:44:10 ot_train.py:423 step:123K smpl:1M ep:5K epch:10.98 loss:0.055 grdn:3.599 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:44:18 ot_train.py:423 step:124K smpl:1M ep:5K epch:11.00 loss:0.055 grdn:3.546 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 19:44:50 ot_train.py:423 step:124K smpl:1M ep:5K epch:11.01 loss:0.054 grdn:3.457 lr:1.0e-05 updt_s:0.037 data_s:0.121
INFO 2026-03-12 19:45:13 ot_train.py:423 step:124K smpl:1M ep:5K epch:11.03 loss:0.054 grdn:3.515 lr:1.0e-05 updt_s:0.037 data_s:0.078
INFO 2026-03-12 19:45:27 ot_train.py:423 step:124K smpl:1M ep:5K epch:11.05 loss:0.055 grdn:3.520 lr:1.0e-05 updt_s:0.036 data_s:0.036
INFO 2026-03-12 19:45:39 ot_train.py:423 step:124K smpl:1M ep:5K epch:11.07 loss:0.054 grdn:3.500 lr:1.0e-05 updt_s:0.037 data_s:0.020
INFO 2026-03-12 19:45:49 ot_train.py:423 step:125K smpl:1M ep:5K epch:11.08 loss:0.055 grdn:3.656 lr:1.0e-05 updt_s:0.038 data_s:0.014
INFO 2026-03-12 19:45:58 ot_train.py:423 step:125K smpl:1M ep:5K epch:11.10 loss:0.054 grdn:3.447 lr:1.0e-05 updt_s:0.037 data_s:0.008
INFO 2026-03-12 19:46:06 ot_train.py:423 step:125K smpl:2M ep:5K epch:11.12 loss:0.055 grdn:3.649 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:46:15 ot_train.py:423 step:125K smpl:2M ep:5K epch:11.14 loss:0.055 grdn:3.554 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:46:23 ot_train.py:423 step:125K smpl:2M ep:5K epch:11.16 loss:0.054 grdn:3.537 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:46:32 ot_train.py:423 step:126K smpl:2M ep:5K epch:11.17 loss:0.053 grdn:3.293 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:46:40 ot_train.py:423 step:126K smpl:2M ep:5K epch:11.19 loss:0.056 grdn:3.351 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:46:49 ot_train.py:423 step:126K smpl:2M ep:5K epch:11.21 loss:0.054 grdn:3.328 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:46:57 ot_train.py:423 step:126K smpl:2M ep:5K epch:11.23 loss:0.055 grdn:3.500 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:47:06 ot_train.py:423 step:126K smpl:2M ep:5K epch:11.24 loss:0.054 grdn:3.431 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:47:15 ot_train.py:423 step:127K smpl:2M ep:5K epch:11.26 loss:0.054 grdn:3.458 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:47:23 ot_train.py:423 step:127K smpl:2M ep:5K epch:11.28 loss:0.053 grdn:3.424 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:47:32 ot_train.py:423 step:127K smpl:2M ep:5K epch:11.30 loss:0.054 grdn:3.499 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:47:40 ot_train.py:423 step:127K smpl:2M ep:5K epch:11.32 loss:0.054 grdn:3.459 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:47:49 ot_train.py:423 step:127K smpl:2M ep:5K epch:11.33 loss:0.053 grdn:3.375 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:47:58 ot_train.py:423 step:128K smpl:2M ep:5K epch:11.35 loss:0.053 grdn:3.272 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:48:06 ot_train.py:423 step:128K smpl:2M ep:5K epch:11.37 loss:0.053 grdn:3.451 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:48:15 ot_train.py:423 step:128K smpl:2M ep:5K epch:11.39 loss:0.053 grdn:3.330 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:48:23 ot_train.py:423 step:128K smpl:2M ep:5K epch:11.40 loss:0.054 grdn:3.546 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:48:32 ot_train.py:423 step:128K smpl:2M ep:5K epch:11.42 loss:0.054 grdn:3.378 lr:1.0e-05 updt_s:0.040 data_s:0.005
INFO 2026-03-12 19:48:43 ot_train.py:423 step:129K smpl:2M ep:5K epch:11.44 loss:0.055 grdn:3.469 lr:1.0e-05 updt_s:0.042 data_s:0.009
INFO 2026-03-12 19:48:52 ot_train.py:423 step:129K smpl:2M ep:5K epch:11.46 loss:0.054 grdn:3.542 lr:1.0e-05 updt_s:0.041 data_s:0.005
INFO 2026-03-12 19:49:01 ot_train.py:423 step:129K smpl:2M ep:5K epch:11.48 loss:0.056 grdn:3.530 lr:1.0e-05 updt_s:0.041 data_s:0.004
INFO 2026-03-12 19:49:10 ot_train.py:423 step:129K smpl:2M ep:5K epch:11.49 loss:0.055 grdn:3.317 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:49:18 ot_train.py:423 step:129K smpl:2M ep:5K epch:11.51 loss:0.054 grdn:3.335 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:49:27 ot_train.py:423 step:130K smpl:2M ep:5K epch:11.53 loss:0.055 grdn:3.474 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:49:36 ot_train.py:423 step:130K smpl:2M ep:5K epch:11.55 loss:0.053 grdn:3.415 lr:1.0e-05 updt_s:0.041 data_s:0.004
INFO 2026-03-12 19:49:45 ot_train.py:423 step:130K smpl:2M ep:5K epch:11.56 loss:0.053 grdn:3.354 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:49:45 ot_train.py:443 Checkpoint policy after step 130000
[Avatar] Pushing checkpoint (step 130000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 19:49:50 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 130000) OK
[Avatar] Tagged as 'step-130000'
INFO 2026-03-12 19:50:00 ot_train.py:423 step:130K smpl:2M ep:5K epch:11.58 loss:0.054 grdn:3.444 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:50:09 ot_train.py:423 step:130K smpl:2M ep:5K epch:11.60 loss:0.053 grdn:3.440 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:50:17 ot_train.py:423 step:131K smpl:2M ep:5K epch:11.62 loss:0.053 grdn:3.506 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:50:25 ot_train.py:423 step:131K smpl:2M ep:5K epch:11.64 loss:0.054 grdn:3.429 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:50:34 ot_train.py:423 step:131K smpl:2M ep:5K epch:11.65 loss:0.054 grdn:3.534 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:50:42 ot_train.py:423 step:131K smpl:2M ep:5K epch:11.67 loss:0.054 grdn:3.371 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 19:50:50 ot_train.py:423 step:131K smpl:2M ep:5K epch:11.69 loss:0.054 grdn:3.408 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:50:58 ot_train.py:423 step:132K smpl:2M ep:5K epch:11.71 loss:0.053 grdn:3.375 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:51:07 ot_train.py:423 step:132K smpl:2M ep:5K epch:11.73 loss:0.054 grdn:3.328 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:51:15 ot_train.py:423 step:132K smpl:2M ep:6K epch:11.74 loss:0.052 grdn:3.247 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:51:24 ot_train.py:423 step:132K smpl:2M ep:6K epch:11.76 loss:0.054 grdn:3.412 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:51:32 ot_train.py:423 step:132K smpl:2M ep:6K epch:11.78 loss:0.054 grdn:3.266 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:51:40 ot_train.py:423 step:133K smpl:2M ep:6K epch:11.80 loss:0.053 grdn:3.214 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:51:48 ot_train.py:423 step:133K smpl:2M ep:6K epch:11.81 loss:0.053 grdn:3.369 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:51:56 ot_train.py:423 step:133K smpl:2M ep:6K epch:11.83 loss:0.054 grdn:3.559 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:52:04 ot_train.py:423 step:133K smpl:2M ep:6K epch:11.85 loss:0.052 grdn:3.256 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:52:14 ot_train.py:423 step:133K smpl:2M ep:6K epch:11.87 loss:0.053 grdn:3.323 lr:1.0e-05 updt_s:0.038 data_s:0.007
INFO 2026-03-12 19:52:22 ot_train.py:423 step:134K smpl:2M ep:6K epch:11.89 loss:0.053 grdn:3.418 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:52:30 ot_train.py:423 step:134K smpl:2M ep:6K epch:11.90 loss:0.053 grdn:3.331 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:52:38 ot_train.py:423 step:134K smpl:2M ep:6K epch:11.92 loss:0.052 grdn:3.347 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:52:47 ot_train.py:423 step:134K smpl:2M ep:6K epch:11.94 loss:0.053 grdn:3.261 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 19:52:56 ot_train.py:423 step:134K smpl:2M ep:6K epch:11.96 loss:0.053 grdn:3.351 lr:1.0e-05 updt_s:0.040 data_s:0.006
INFO 2026-03-12 19:53:04 ot_train.py:423 step:135K smpl:2M ep:6K epch:11.97 loss:0.053 grdn:3.360 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:53:13 ot_train.py:423 step:135K smpl:2M ep:6K epch:11.99 loss:0.053 grdn:3.324 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 19:53:40 ot_train.py:423 step:135K smpl:2M ep:6K epch:12.01 loss:0.052 grdn:3.354 lr:1.0e-05 updt_s:0.038 data_s:0.099
INFO 2026-03-12 19:54:04 ot_train.py:423 step:135K smpl:2M ep:6K epch:12.03 loss:0.053 grdn:3.461 lr:1.0e-05 updt_s:0.037 data_s:0.081
INFO 2026-03-12 19:54:21 ot_train.py:423 step:135K smpl:2M ep:6K epch:12.05 loss:0.052 grdn:3.232 lr:1.0e-05 updt_s:0.038 data_s:0.047
INFO 2026-03-12 19:54:33 ot_train.py:423 step:136K smpl:2M ep:6K epch:12.06 loss:0.053 grdn:3.242 lr:1.0e-05 updt_s:0.037 data_s:0.023
INFO 2026-03-12 19:54:44 ot_train.py:423 step:136K smpl:2M ep:6K epch:12.08 loss:0.054 grdn:3.485 lr:1.0e-05 updt_s:0.038 data_s:0.020
INFO 2026-03-12 19:54:55 ot_train.py:423 step:136K smpl:2M ep:6K epch:12.10 loss:0.052 grdn:3.179 lr:1.0e-05 updt_s:0.038 data_s:0.016
INFO 2026-03-12 19:55:04 ot_train.py:423 step:136K smpl:2M ep:6K epch:12.12 loss:0.052 grdn:3.238 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 19:55:12 ot_train.py:423 step:136K smpl:2M ep:6K epch:12.13 loss:0.050 grdn:3.169 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 19:55:20 ot_train.py:423 step:137K smpl:2M ep:6K epch:12.15 loss:0.051 grdn:3.313 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:55:29 ot_train.py:423 step:137K smpl:2M ep:6K epch:12.17 loss:0.053 grdn:3.268 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:55:37 ot_train.py:423 step:137K smpl:2M ep:6K epch:12.19 loss:0.051 grdn:3.127 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:55:46 ot_train.py:423 step:137K smpl:2M ep:6K epch:12.21 loss:0.051 grdn:3.085 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:55:55 ot_train.py:423 step:137K smpl:2M ep:6K epch:12.22 loss:0.052 grdn:3.242 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:56:04 ot_train.py:423 step:138K smpl:2M ep:6K epch:12.24 loss:0.052 grdn:3.305 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:56:12 ot_train.py:423 step:138K smpl:2M ep:6K epch:12.26 loss:0.052 grdn:3.033 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:56:21 ot_train.py:423 step:138K smpl:2M ep:6K epch:12.28 loss:0.052 grdn:3.403 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:56:30 ot_train.py:423 step:138K smpl:2M ep:6K epch:12.29 loss:0.052 grdn:3.101 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:56:38 ot_train.py:423 step:138K smpl:2M ep:6K epch:12.31 loss:0.053 grdn:3.283 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:56:47 ot_train.py:423 step:139K smpl:2M ep:6K epch:12.33 loss:0.051 grdn:3.412 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:56:56 ot_train.py:423 step:139K smpl:2M ep:6K epch:12.35 loss:0.052 grdn:3.294 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:57:04 ot_train.py:423 step:139K smpl:2M ep:6K epch:12.37 loss:0.051 grdn:3.104 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:57:13 ot_train.py:423 step:139K smpl:2M ep:6K epch:12.38 loss:0.051 grdn:3.089 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:57:21 ot_train.py:423 step:139K smpl:2M ep:6K epch:12.40 loss:0.051 grdn:3.172 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:57:30 ot_train.py:423 step:140K smpl:2M ep:6K epch:12.42 loss:0.053 grdn:3.295 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:57:39 ot_train.py:423 step:140K smpl:2M ep:6K epch:12.44 loss:0.051 grdn:3.260 lr:1.0e-05 updt_s:0.039 data_s:0.004
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INFO 2026-03-12 19:57:47 ot_train.py:443 Checkpoint policy after step 140000
[Avatar] Pushing checkpoint (step 140000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 19:57:53 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 140000) OK
[Avatar] Tagged as 'step-140000'
INFO 2026-03-12 19:58:03 ot_train.py:423 step:140K smpl:2M ep:6K epch:12.47 loss:0.052 grdn:3.111 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:58:11 ot_train.py:423 step:140K smpl:2M ep:6K epch:12.49 loss:0.052 grdn:3.290 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:58:20 ot_train.py:423 step:141K smpl:2M ep:6K epch:12.51 loss:0.052 grdn:3.103 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:58:29 ot_train.py:423 step:141K smpl:2M ep:6K epch:12.53 loss:0.051 grdn:3.091 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:58:37 ot_train.py:423 step:141K smpl:2M ep:6K epch:12.54 loss:0.052 grdn:3.249 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:58:45 ot_train.py:423 step:141K smpl:2M ep:6K epch:12.56 loss:0.053 grdn:3.373 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 19:58:53 ot_train.py:423 step:141K smpl:2M ep:6K epch:12.58 loss:0.051 grdn:3.165 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:59:02 ot_train.py:423 step:142K smpl:2M ep:6K epch:12.60 loss:0.052 grdn:3.455 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:59:11 ot_train.py:423 step:142K smpl:2M ep:6K epch:12.61 loss:0.051 grdn:3.076 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:59:19 ot_train.py:423 step:142K smpl:2M ep:6K epch:12.63 loss:0.052 grdn:3.073 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 19:59:27 ot_train.py:423 step:142K smpl:2M ep:6K epch:12.65 loss:0.052 grdn:3.310 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:59:36 ot_train.py:423 step:142K smpl:2M ep:6K epch:12.67 loss:0.051 grdn:3.216 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 19:59:45 ot_train.py:423 step:143K smpl:2M ep:6K epch:12.69 loss:0.051 grdn:3.250 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 19:59:53 ot_train.py:423 step:143K smpl:2M ep:6K epch:12.70 loss:0.050 grdn:3.170 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:00:02 ot_train.py:423 step:143K smpl:2M ep:6K epch:12.72 loss:0.050 grdn:3.095 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:00:10 ot_train.py:423 step:143K smpl:2M ep:6K epch:12.74 loss:0.051 grdn:3.254 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:00:18 ot_train.py:423 step:143K smpl:2M ep:6K epch:12.76 loss:0.051 grdn:3.092 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:00:27 ot_train.py:423 step:144K smpl:2M ep:6K epch:12.77 loss:0.052 grdn:3.263 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:00:35 ot_train.py:423 step:144K smpl:2M ep:6K epch:12.79 loss:0.051 grdn:3.163 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:00:44 ot_train.py:423 step:144K smpl:2M ep:6K epch:12.81 loss:0.051 grdn:3.145 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:00:52 ot_train.py:423 step:144K smpl:2M ep:6K epch:12.83 loss:0.052 grdn:3.197 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:01:00 ot_train.py:423 step:144K smpl:2M ep:6K epch:12.85 loss:0.052 grdn:3.264 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:01:08 ot_train.py:423 step:145K smpl:2M ep:6K epch:12.86 loss:0.052 grdn:3.253 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:01:17 ot_train.py:423 step:145K smpl:2M ep:6K epch:12.88 loss:0.051 grdn:3.143 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:01:26 ot_train.py:423 step:145K smpl:2M ep:6K epch:12.90 loss:0.051 grdn:2.945 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:01:34 ot_train.py:423 step:145K smpl:2M ep:6K epch:12.92 loss:0.050 grdn:3.024 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:01:42 ot_train.py:423 step:145K smpl:2M ep:6K epch:12.93 loss:0.052 grdn:3.297 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 20:01:51 ot_train.py:423 step:146K smpl:2M ep:6K epch:12.95 loss:0.051 grdn:2.988 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:02:00 ot_train.py:423 step:146K smpl:2M ep:6K epch:12.97 loss:0.051 grdn:3.234 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:02:08 ot_train.py:423 step:146K smpl:2M ep:6K epch:12.99 loss:0.051 grdn:3.152 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:02:30 ot_train.py:423 step:146K smpl:2M ep:6K epch:13.01 loss:0.052 grdn:3.075 lr:1.0e-05 updt_s:0.038 data_s:0.074
INFO 2026-03-12 20:03:01 ot_train.py:423 step:146K smpl:2M ep:6K epch:13.02 loss:0.051 grdn:3.140 lr:1.0e-05 updt_s:0.039 data_s:0.115
INFO 2026-03-12 20:03:21 ot_train.py:423 step:147K smpl:2M ep:6K epch:13.04 loss:0.050 grdn:2.953 lr:1.0e-05 updt_s:0.039 data_s:0.059
INFO 2026-03-12 20:03:37 ot_train.py:423 step:147K smpl:2M ep:6K epch:13.06 loss:0.051 grdn:3.136 lr:1.0e-05 updt_s:0.039 data_s:0.039
INFO 2026-03-12 20:03:47 ot_train.py:423 step:147K smpl:2M ep:6K epch:13.08 loss:0.050 grdn:3.046 lr:1.0e-05 updt_s:0.037 data_s:0.016
INFO 2026-03-12 20:03:57 ot_train.py:423 step:147K smpl:2M ep:6K epch:13.10 loss:0.051 grdn:3.231 lr:1.0e-05 updt_s:0.039 data_s:0.011
INFO 2026-03-12 20:04:06 ot_train.py:423 step:147K smpl:2M ep:6K epch:13.11 loss:0.052 grdn:3.110 lr:1.0e-05 updt_s:0.038 data_s:0.006
INFO 2026-03-12 20:04:14 ot_train.py:423 step:148K smpl:2M ep:6K epch:13.13 loss:0.051 grdn:3.085 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:04:23 ot_train.py:423 step:148K smpl:2M ep:6K epch:13.15 loss:0.051 grdn:3.160 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:04:31 ot_train.py:423 step:148K smpl:2M ep:6K epch:13.17 loss:0.050 grdn:2.976 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:04:39 ot_train.py:423 step:148K smpl:2M ep:6K epch:13.18 loss:0.051 grdn:3.076 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:04:47 ot_train.py:423 step:148K smpl:2M ep:6K epch:13.20 loss:0.050 grdn:3.279 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:04:56 ot_train.py:423 step:149K smpl:2M ep:6K epch:13.22 loss:0.050 grdn:3.093 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:05:05 ot_train.py:423 step:149K smpl:2M ep:6K epch:13.24 loss:0.050 grdn:3.062 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:05:13 ot_train.py:423 step:149K smpl:2M ep:6K epch:13.26 loss:0.050 grdn:2.968 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:05:22 ot_train.py:423 step:149K smpl:2M ep:6K epch:13.27 loss:0.050 grdn:2.935 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:05:30 ot_train.py:423 step:149K smpl:2M ep:6K epch:13.29 loss:0.050 grdn:3.095 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:05:39 ot_train.py:423 step:150K smpl:2M ep:6K epch:13.31 loss:0.050 grdn:3.047 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:05:48 ot_train.py:423 step:150K smpl:2M ep:6K epch:13.33 loss:0.049 grdn:3.124 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:05:56 ot_train.py:423 step:150K smpl:2M ep:6K epch:13.34 loss:0.050 grdn:3.014 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:05:56 ot_train.py:443 Checkpoint policy after step 150000
[Avatar] Pushing checkpoint (step 150000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 20:06:02 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 150000) OK
[Avatar] Tagged as 'step-150000'
INFO 2026-03-12 20:06:12 ot_train.py:423 step:150K smpl:2M ep:6K epch:13.36 loss:0.050 grdn:3.003 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:06:21 ot_train.py:423 step:150K smpl:2M ep:6K epch:13.38 loss:0.049 grdn:3.087 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:06:30 ot_train.py:423 step:151K smpl:2M ep:6K epch:13.40 loss:0.050 grdn:3.129 lr:1.0e-05 updt_s:0.040 data_s:0.005
INFO 2026-03-12 20:06:38 ot_train.py:423 step:151K smpl:2M ep:6K epch:13.42 loss:0.050 grdn:3.068 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:06:47 ot_train.py:423 step:151K smpl:2M ep:6K epch:13.43 loss:0.051 grdn:3.183 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:06:55 ot_train.py:423 step:151K smpl:2M ep:6K epch:13.45 loss:0.050 grdn:3.063 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:07:04 ot_train.py:423 step:151K smpl:2M ep:6K epch:13.47 loss:0.050 grdn:3.106 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:07:13 ot_train.py:423 step:152K smpl:2M ep:6K epch:13.49 loss:0.049 grdn:3.056 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:07:21 ot_train.py:423 step:152K smpl:2M ep:6K epch:13.50 loss:0.049 grdn:2.960 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:07:29 ot_train.py:423 step:152K smpl:2M ep:6K epch:13.52 loss:0.050 grdn:3.105 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:07:38 ot_train.py:423 step:152K smpl:2M ep:6K epch:13.54 loss:0.050 grdn:2.971 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:07:47 ot_train.py:423 step:152K smpl:2M ep:6K epch:13.56 loss:0.051 grdn:3.114 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:07:55 ot_train.py:423 step:153K smpl:2M ep:6K epch:13.58 loss:0.050 grdn:3.009 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:08:04 ot_train.py:423 step:153K smpl:2M ep:6K epch:13.59 loss:0.049 grdn:3.068 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:08:13 ot_train.py:423 step:153K smpl:2M ep:6K epch:13.61 loss:0.049 grdn:2.966 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:08:22 ot_train.py:423 step:153K smpl:2M ep:6K epch:13.63 loss:0.050 grdn:2.979 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:08:30 ot_train.py:423 step:153K smpl:2M ep:6K epch:13.65 loss:0.051 grdn:3.002 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:08:38 ot_train.py:423 step:154K smpl:2M ep:6K epch:13.66 loss:0.050 grdn:3.022 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:08:47 ot_train.py:423 step:154K smpl:2M ep:6K epch:13.68 loss:0.051 grdn:3.041 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:08:56 ot_train.py:423 step:154K smpl:2M ep:6K epch:13.70 loss:0.049 grdn:2.995 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:09:04 ot_train.py:423 step:154K smpl:2M ep:6K epch:13.72 loss:0.051 grdn:3.152 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:09:13 ot_train.py:423 step:154K smpl:2M ep:6K epch:13.74 loss:0.049 grdn:2.903 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:09:21 ot_train.py:423 step:155K smpl:2M ep:6K epch:13.75 loss:0.049 grdn:2.889 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:09:30 ot_train.py:423 step:155K smpl:2M ep:6K epch:13.77 loss:0.049 grdn:3.030 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:09:38 ot_train.py:423 step:155K smpl:2M ep:6K epch:13.79 loss:0.049 grdn:3.039 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:09:47 ot_train.py:423 step:155K smpl:2M ep:6K epch:13.81 loss:0.050 grdn:3.040 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:09:55 ot_train.py:423 step:155K smpl:2M ep:6K epch:13.82 loss:0.050 grdn:2.888 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:10:03 ot_train.py:423 step:156K smpl:2M ep:6K epch:13.84 loss:0.049 grdn:3.043 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:10:11 ot_train.py:423 step:156K smpl:2M ep:7K epch:13.86 loss:0.050 grdn:2.945 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:10:20 ot_train.py:423 step:156K smpl:2M ep:7K epch:13.88 loss:0.048 grdn:2.950 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:10:28 ot_train.py:423 step:156K smpl:2M ep:7K epch:13.90 loss:0.049 grdn:3.015 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:10:37 ot_train.py:423 step:156K smpl:2M ep:7K epch:13.91 loss:0.048 grdn:2.880 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:10:45 ot_train.py:423 step:157K smpl:2M ep:7K epch:13.93 loss:0.049 grdn:3.054 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 20:10:54 ot_train.py:423 step:157K smpl:2M ep:7K epch:13.95 loss:0.049 grdn:3.005 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:11:02 ot_train.py:423 step:157K smpl:2M ep:7K epch:13.97 loss:0.049 grdn:3.002 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:11:11 ot_train.py:423 step:157K smpl:2M ep:7K epch:13.98 loss:0.049 grdn:3.101 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:11:27 ot_train.py:423 step:157K smpl:2M ep:7K epch:14.00 loss:0.049 grdn:2.867 lr:1.0e-05 updt_s:0.039 data_s:0.041
INFO 2026-03-12 20:12:00 ot_train.py:423 step:158K smpl:2M ep:7K epch:14.02 loss:0.049 grdn:3.039 lr:1.0e-05 updt_s:0.039 data_s:0.129
INFO 2026-03-12 20:12:21 ot_train.py:423 step:158K smpl:2M ep:7K epch:14.04 loss:0.047 grdn:2.849 lr:1.0e-05 updt_s:0.039 data_s:0.064
INFO 2026-03-12 20:12:36 ot_train.py:423 step:158K smpl:2M ep:7K epch:14.06 loss:0.047 grdn:2.861 lr:1.0e-05 updt_s:0.038 data_s:0.035
INFO 2026-03-12 20:12:47 ot_train.py:423 step:158K smpl:2M ep:7K epch:14.07 loss:0.049 grdn:2.911 lr:1.0e-05 updt_s:0.038 data_s:0.018
INFO 2026-03-12 20:12:57 ot_train.py:423 step:158K smpl:2M ep:7K epch:14.09 loss:0.048 grdn:2.859 lr:1.0e-05 updt_s:0.037 data_s:0.012
INFO 2026-03-12 20:13:06 ot_train.py:423 step:159K smpl:2M ep:7K epch:14.11 loss:0.047 grdn:2.895 lr:1.0e-05 updt_s:0.038 data_s:0.007
INFO 2026-03-12 20:13:14 ot_train.py:423 step:159K smpl:2M ep:7K epch:14.13 loss:0.048 grdn:2.897 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 20:13:23 ot_train.py:423 step:159K smpl:2M ep:7K epch:14.14 loss:0.048 grdn:2.800 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:13:31 ot_train.py:423 step:159K smpl:2M ep:7K epch:14.16 loss:0.049 grdn:2.958 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:13:39 ot_train.py:423 step:159K smpl:2M ep:7K epch:14.18 loss:0.048 grdn:2.917 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:13:48 ot_train.py:423 step:160K smpl:2M ep:7K epch:14.20 loss:0.049 grdn:3.029 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:13:56 ot_train.py:423 step:160K smpl:2M ep:7K epch:14.22 loss:0.048 grdn:2.885 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:14:05 ot_train.py:423 step:160K smpl:2M ep:7K epch:14.23 loss:0.050 grdn:3.163 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:14:05 ot_train.py:443 Checkpoint policy after step 160000
[Avatar] Pushing checkpoint (step 160000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 20:14:11 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 160000) OK
[Avatar] Tagged as 'step-160000'
INFO 2026-03-12 20:14:21 ot_train.py:423 step:160K smpl:2M ep:7K epch:14.25 loss:0.049 grdn:3.024 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:14:29 ot_train.py:423 step:160K smpl:2M ep:7K epch:14.27 loss:0.048 grdn:2.901 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:14:37 ot_train.py:423 step:161K smpl:2M ep:7K epch:14.29 loss:0.048 grdn:3.000 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:14:45 ot_train.py:423 step:161K smpl:2M ep:7K epch:14.30 loss:0.048 grdn:2.831 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:14:54 ot_train.py:423 step:161K smpl:2M ep:7K epch:14.32 loss:0.048 grdn:3.014 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:15:02 ot_train.py:423 step:161K smpl:2M ep:7K epch:14.34 loss:0.048 grdn:2.923 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:15:11 ot_train.py:423 step:161K smpl:2M ep:7K epch:14.36 loss:0.049 grdn:2.966 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:15:19 ot_train.py:423 step:162K smpl:2M ep:7K epch:14.38 loss:0.048 grdn:2.928 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:15:27 ot_train.py:423 step:162K smpl:2M ep:7K epch:14.39 loss:0.049 grdn:2.963 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:15:35 ot_train.py:423 step:162K smpl:2M ep:7K epch:14.41 loss:0.048 grdn:2.888 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:15:44 ot_train.py:423 step:162K smpl:2M ep:7K epch:14.43 loss:0.048 grdn:2.932 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:15:52 ot_train.py:423 step:162K smpl:2M ep:7K epch:14.45 loss:0.048 grdn:2.857 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:16:00 ot_train.py:423 step:163K smpl:2M ep:7K epch:14.47 loss:0.048 grdn:2.800 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:16:08 ot_train.py:423 step:163K smpl:2M ep:7K epch:14.48 loss:0.048 grdn:2.856 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:16:17 ot_train.py:423 step:163K smpl:2M ep:7K epch:14.50 loss:0.048 grdn:2.968 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:16:25 ot_train.py:423 step:163K smpl:2M ep:7K epch:14.52 loss:0.048 grdn:2.899 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:16:34 ot_train.py:423 step:163K smpl:2M ep:7K epch:14.54 loss:0.048 grdn:2.869 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:16:42 ot_train.py:423 step:164K smpl:2M ep:7K epch:14.55 loss:0.048 grdn:2.893 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:16:50 ot_train.py:423 step:164K smpl:2M ep:7K epch:14.57 loss:0.048 grdn:2.758 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:16:59 ot_train.py:423 step:164K smpl:2M ep:7K epch:14.59 loss:0.048 grdn:2.902 lr:1.0e-05 updt_s:0.038 data_s:0.008
INFO 2026-03-12 20:17:07 ot_train.py:423 step:164K smpl:2M ep:7K epch:14.61 loss:0.048 grdn:2.837 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:17:16 ot_train.py:423 step:164K smpl:2M ep:7K epch:14.63 loss:0.047 grdn:2.853 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:17:24 ot_train.py:423 step:165K smpl:2M ep:7K epch:14.64 loss:0.049 grdn:2.843 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:17:34 ot_train.py:423 step:165K smpl:2M ep:7K epch:14.66 loss:0.048 grdn:2.888 lr:1.0e-05 updt_s:0.040 data_s:0.007
INFO 2026-03-12 20:17:43 ot_train.py:423 step:165K smpl:2M ep:7K epch:14.68 loss:0.048 grdn:2.785 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:17:52 ot_train.py:423 step:165K smpl:2M ep:7K epch:14.70 loss:0.047 grdn:2.772 lr:1.0e-05 updt_s:0.039 data_s:0.007
INFO 2026-03-12 20:18:01 ot_train.py:423 step:165K smpl:2M ep:7K epch:14.71 loss:0.048 grdn:2.902 lr:1.0e-05 updt_s:0.039 data_s:0.006
INFO 2026-03-12 20:18:10 ot_train.py:423 step:166K smpl:2M ep:7K epch:14.73 loss:0.048 grdn:2.746 lr:1.0e-05 updt_s:0.039 data_s:0.009
INFO 2026-03-12 20:18:19 ot_train.py:423 step:166K smpl:2M ep:7K epch:14.75 loss:0.049 grdn:2.851 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:18:27 ot_train.py:423 step:166K smpl:2M ep:7K epch:14.77 loss:0.048 grdn:2.815 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:18:36 ot_train.py:423 step:166K smpl:2M ep:7K epch:14.79 loss:0.049 grdn:2.871 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:18:44 ot_train.py:423 step:166K smpl:2M ep:7K epch:14.80 loss:0.046 grdn:2.785 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:18:53 ot_train.py:423 step:167K smpl:2M ep:7K epch:14.82 loss:0.049 grdn:2.851 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:19:01 ot_train.py:423 step:167K smpl:2M ep:7K epch:14.84 loss:0.048 grdn:2.969 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:19:09 ot_train.py:423 step:167K smpl:2M ep:7K epch:14.86 loss:0.048 grdn:2.989 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:19:18 ot_train.py:423 step:167K smpl:2M ep:7K epch:14.87 loss:0.048 grdn:2.873 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:19:26 ot_train.py:423 step:167K smpl:2M ep:7K epch:14.89 loss:0.048 grdn:2.907 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:19:34 ot_train.py:423 step:168K smpl:2M ep:7K epch:14.91 loss:0.048 grdn:2.902 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:19:43 ot_train.py:423 step:168K smpl:2M ep:7K epch:14.93 loss:0.047 grdn:2.778 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:19:51 ot_train.py:423 step:168K smpl:2M ep:7K epch:14.95 loss:0.048 grdn:2.779 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:20:00 ot_train.py:423 step:168K smpl:2M ep:7K epch:14.96 loss:0.047 grdn:2.793 lr:1.0e-05 updt_s:0.040 data_s:0.006
INFO 2026-03-12 20:20:09 ot_train.py:423 step:168K smpl:2M ep:7K epch:14.98 loss:0.049 grdn:2.864 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:20:17 ot_train.py:423 step:169K smpl:2M ep:7K epch:15.00 loss:0.047 grdn:2.797 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:20:55 ot_train.py:423 step:169K smpl:2M ep:7K epch:15.02 loss:0.047 grdn:2.863 lr:1.0e-05 updt_s:0.038 data_s:0.147
INFO 2026-03-12 20:21:20 ot_train.py:423 step:169K smpl:2M ep:7K epch:15.03 loss:0.047 grdn:2.772 lr:1.0e-05 updt_s:0.038 data_s:0.090
INFO 2026-03-12 20:21:36 ot_train.py:423 step:169K smpl:2M ep:7K epch:15.05 loss:0.047 grdn:2.871 lr:1.0e-05 updt_s:0.038 data_s:0.042
INFO 2026-03-12 20:21:49 ot_train.py:423 step:169K smpl:2M ep:7K epch:15.07 loss:0.047 grdn:2.790 lr:1.0e-05 updt_s:0.039 data_s:0.025
INFO 2026-03-12 20:22:00 ot_train.py:423 step:170K smpl:2M ep:7K epch:15.09 loss:0.047 grdn:2.772 lr:1.0e-05 updt_s:0.039 data_s:0.017
INFO 2026-03-12 20:22:09 ot_train.py:423 step:170K smpl:2M ep:7K epch:15.11 loss:0.046 grdn:2.740 lr:1.0e-05 updt_s:0.039 data_s:0.006
INFO 2026-03-12 20:22:17 ot_train.py:423 step:170K smpl:2M ep:7K epch:15.12 loss:0.047 grdn:2.743 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:22:17 ot_train.py:443 Checkpoint policy after step 170000
[Avatar] Pushing checkpoint (step 170000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 20:22:24 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 170000) OK
[Avatar] Tagged as 'step-170000'
INFO 2026-03-12 20:22:34 ot_train.py:423 step:170K smpl:2M ep:7K epch:15.14 loss:0.047 grdn:2.805 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:22:43 ot_train.py:423 step:170K smpl:2M ep:7K epch:15.16 loss:0.046 grdn:2.793 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:22:52 ot_train.py:423 step:171K smpl:2M ep:7K epch:15.18 loss:0.046 grdn:2.769 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:23:00 ot_train.py:423 step:171K smpl:2M ep:7K epch:15.19 loss:0.047 grdn:2.697 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:23:09 ot_train.py:423 step:171K smpl:2M ep:7K epch:15.21 loss:0.047 grdn:2.874 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:23:17 ot_train.py:423 step:171K smpl:2M ep:7K epch:15.23 loss:0.048 grdn:2.839 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:23:26 ot_train.py:423 step:171K smpl:2M ep:7K epch:15.25 loss:0.046 grdn:2.760 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:23:35 ot_train.py:423 step:172K smpl:2M ep:7K epch:15.27 loss:0.047 grdn:2.770 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:23:44 ot_train.py:423 step:172K smpl:2M ep:7K epch:15.28 loss:0.047 grdn:2.836 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:23:52 ot_train.py:423 step:172K smpl:2M ep:7K epch:15.30 loss:0.047 grdn:2.890 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:24:00 ot_train.py:423 step:172K smpl:2M ep:7K epch:15.32 loss:0.048 grdn:2.866 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:24:08 ot_train.py:423 step:172K smpl:2M ep:7K epch:15.34 loss:0.046 grdn:2.692 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:24:17 ot_train.py:423 step:173K smpl:2M ep:7K epch:15.35 loss:0.047 grdn:2.705 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:24:25 ot_train.py:423 step:173K smpl:2M ep:7K epch:15.37 loss:0.047 grdn:2.791 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:24:33 ot_train.py:423 step:173K smpl:2M ep:7K epch:15.39 loss:0.047 grdn:2.797 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:24:41 ot_train.py:423 step:173K smpl:2M ep:7K epch:15.41 loss:0.047 grdn:2.697 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:24:50 ot_train.py:423 step:173K smpl:2M ep:7K epch:15.43 loss:0.047 grdn:2.768 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:24:58 ot_train.py:423 step:174K smpl:2M ep:7K epch:15.44 loss:0.047 grdn:2.789 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:25:06 ot_train.py:423 step:174K smpl:2M ep:7K epch:15.46 loss:0.046 grdn:2.618 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:25:14 ot_train.py:423 step:174K smpl:2M ep:7K epch:15.48 loss:0.046 grdn:2.664 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:25:21 ot_train.py:423 step:174K smpl:2M ep:7K epch:15.50 loss:0.046 grdn:2.704 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:25:30 ot_train.py:423 step:174K smpl:2M ep:7K epch:15.51 loss:0.047 grdn:2.859 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:25:38 ot_train.py:423 step:175K smpl:2M ep:7K epch:15.53 loss:0.046 grdn:2.754 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:25:47 ot_train.py:423 step:175K smpl:2M ep:7K epch:15.55 loss:0.046 grdn:2.691 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:25:54 ot_train.py:423 step:175K smpl:2M ep:7K epch:15.57 loss:0.047 grdn:2.866 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:26:02 ot_train.py:423 step:175K smpl:2M ep:7K epch:15.59 loss:0.047 grdn:2.773 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:26:11 ot_train.py:423 step:175K smpl:2M ep:7K epch:15.60 loss:0.048 grdn:2.758 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:26:19 ot_train.py:423 step:176K smpl:2M ep:7K epch:15.62 loss:0.047 grdn:2.872 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:26:26 ot_train.py:423 step:176K smpl:2M ep:7K epch:15.64 loss:0.046 grdn:2.640 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:26:34 ot_train.py:423 step:176K smpl:2M ep:7K epch:15.66 loss:0.047 grdn:2.792 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:26:43 ot_train.py:423 step:176K smpl:2M ep:7K epch:15.67 loss:0.047 grdn:2.741 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:26:51 ot_train.py:423 step:176K smpl:2M ep:7K epch:15.69 loss:0.046 grdn:2.708 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:26:59 ot_train.py:423 step:177K smpl:2M ep:7K epch:15.71 loss:0.048 grdn:2.745 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:27:07 ot_train.py:423 step:177K smpl:2M ep:7K epch:15.73 loss:0.047 grdn:2.851 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:27:15 ot_train.py:423 step:177K smpl:2M ep:7K epch:15.75 loss:0.046 grdn:2.688 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:27:23 ot_train.py:423 step:177K smpl:2M ep:7K epch:15.76 loss:0.046 grdn:2.712 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:27:31 ot_train.py:423 step:177K smpl:2M ep:7K epch:15.78 loss:0.046 grdn:2.728 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:27:39 ot_train.py:423 step:178K smpl:2M ep:7K epch:15.80 loss:0.046 grdn:2.683 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:27:47 ot_train.py:423 step:178K smpl:2M ep:7K epch:15.82 loss:0.046 grdn:2.619 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:27:55 ot_train.py:423 step:178K smpl:2M ep:7K epch:15.84 loss:0.046 grdn:2.697 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:28:04 ot_train.py:423 step:178K smpl:2M ep:7K epch:15.85 loss:0.047 grdn:2.910 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:28:12 ot_train.py:423 step:178K smpl:2M ep:7K epch:15.87 loss:0.045 grdn:2.874 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:28:21 ot_train.py:423 step:179K smpl:2M ep:7K epch:15.89 loss:0.046 grdn:2.748 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:28:29 ot_train.py:423 step:179K smpl:2M ep:7K epch:15.91 loss:0.049 grdn:2.792 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:28:37 ot_train.py:423 step:179K smpl:2M ep:7K epch:15.92 loss:0.046 grdn:2.762 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:28:45 ot_train.py:423 step:179K smpl:2M ep:7K epch:15.94 loss:0.046 grdn:2.685 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:28:53 ot_train.py:423 step:179K smpl:2M ep:7K epch:15.96 loss:0.046 grdn:2.712 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:29:02 ot_train.py:423 step:180K smpl:2M ep:7K epch:15.98 loss:0.046 grdn:2.725 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:29:10 ot_train.py:423 step:180K smpl:2M ep:8K epch:16.00 loss:0.046 grdn:2.753 lr:1.0e-05 updt_s:0.037 data_s:0.004
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INFO 2026-03-12 20:29:40 ot_train.py:443 Checkpoint policy after step 180000
[Avatar] Pushing checkpoint (step 180000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 20:29:46 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 180000) OK
[Avatar] Tagged as 'step-180000'
INFO 2026-03-12 20:30:07 ot_train.py:423 step:180K smpl:2M ep:8K epch:16.03 loss:0.045 grdn:2.686 lr:1.0e-05 updt_s:0.037 data_s:0.060
INFO 2026-03-12 20:30:23 ot_train.py:423 step:180K smpl:2M ep:8K epch:16.05 loss:0.044 grdn:2.679 lr:1.0e-05 updt_s:0.039 data_s:0.044
INFO 2026-03-12 20:30:36 ot_train.py:423 step:181K smpl:2M ep:8K epch:16.07 loss:0.045 grdn:2.680 lr:1.0e-05 updt_s:0.038 data_s:0.027
INFO 2026-03-12 20:30:47 ot_train.py:423 step:181K smpl:2M ep:8K epch:16.08 loss:0.045 grdn:2.607 lr:1.0e-05 updt_s:0.038 data_s:0.014
INFO 2026-03-12 20:30:56 ot_train.py:423 step:181K smpl:2M ep:8K epch:16.10 loss:0.045 grdn:2.628 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 20:31:04 ot_train.py:423 step:181K smpl:2M ep:8K epch:16.12 loss:0.045 grdn:2.635 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:31:13 ot_train.py:423 step:181K smpl:2M ep:8K epch:16.14 loss:0.045 grdn:2.715 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:31:21 ot_train.py:423 step:182K smpl:2M ep:8K epch:16.16 loss:0.046 grdn:2.719 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:31:30 ot_train.py:423 step:182K smpl:2M ep:8K epch:16.17 loss:0.046 grdn:2.733 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:31:38 ot_train.py:423 step:182K smpl:2M ep:8K epch:16.19 loss:0.045 grdn:2.720 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:31:46 ot_train.py:423 step:182K smpl:2M ep:8K epch:16.21 loss:0.045 grdn:2.688 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:31:55 ot_train.py:423 step:182K smpl:2M ep:8K epch:16.23 loss:0.045 grdn:2.621 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:32:03 ot_train.py:423 step:183K smpl:2M ep:8K epch:16.24 loss:0.047 grdn:2.773 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:32:12 ot_train.py:423 step:183K smpl:2M ep:8K epch:16.26 loss:0.046 grdn:2.632 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:32:20 ot_train.py:423 step:183K smpl:2M ep:8K epch:16.28 loss:0.046 grdn:2.595 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:32:28 ot_train.py:423 step:183K smpl:2M ep:8K epch:16.30 loss:0.045 grdn:2.587 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:32:36 ot_train.py:423 step:183K smpl:2M ep:8K epch:16.32 loss:0.046 grdn:2.664 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:32:45 ot_train.py:423 step:184K smpl:2M ep:8K epch:16.33 loss:0.046 grdn:2.764 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:32:53 ot_train.py:423 step:184K smpl:2M ep:8K epch:16.35 loss:0.045 grdn:2.615 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 20:33:01 ot_train.py:423 step:184K smpl:2M ep:8K epch:16.37 loss:0.045 grdn:2.521 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:33:09 ot_train.py:423 step:184K smpl:2M ep:8K epch:16.39 loss:0.045 grdn:2.651 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:33:18 ot_train.py:423 step:184K smpl:2M ep:8K epch:16.40 loss:0.046 grdn:2.725 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:33:26 ot_train.py:423 step:185K smpl:2M ep:8K epch:16.42 loss:0.046 grdn:2.673 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:33:34 ot_train.py:423 step:185K smpl:2M ep:8K epch:16.44 loss:0.045 grdn:2.630 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:33:43 ot_train.py:423 step:185K smpl:2M ep:8K epch:16.46 loss:0.045 grdn:2.590 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 20:33:51 ot_train.py:423 step:185K smpl:2M ep:8K epch:16.48 loss:0.045 grdn:2.539 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:34:00 ot_train.py:423 step:185K smpl:2M ep:8K epch:16.49 loss:0.046 grdn:2.632 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:34:09 ot_train.py:423 step:186K smpl:2M ep:8K epch:16.51 loss:0.045 grdn:2.585 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 20:34:17 ot_train.py:423 step:186K smpl:2M ep:8K epch:16.53 loss:0.046 grdn:2.703 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:34:25 ot_train.py:423 step:186K smpl:2M ep:8K epch:16.55 loss:0.044 grdn:2.616 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 20:34:34 ot_train.py:423 step:186K smpl:2M ep:8K epch:16.56 loss:0.046 grdn:2.605 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:34:42 ot_train.py:423 step:186K smpl:2M ep:8K epch:16.58 loss:0.046 grdn:2.601 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:34:51 ot_train.py:423 step:187K smpl:2M ep:8K epch:16.60 loss:0.046 grdn:2.668 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:34:59 ot_train.py:423 step:187K smpl:2M ep:8K epch:16.62 loss:0.047 grdn:2.637 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:35:07 ot_train.py:423 step:187K smpl:2M ep:8K epch:16.64 loss:0.045 grdn:2.595 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:35:15 ot_train.py:423 step:187K smpl:2M ep:8K epch:16.65 loss:0.045 grdn:2.592 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:35:24 ot_train.py:423 step:187K smpl:2M ep:8K epch:16.67 loss:0.045 grdn:2.739 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:35:32 ot_train.py:423 step:188K smpl:2M ep:8K epch:16.69 loss:0.045 grdn:2.656 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:35:41 ot_train.py:423 step:188K smpl:2M ep:8K epch:16.71 loss:0.046 grdn:2.855 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:35:49 ot_train.py:423 step:188K smpl:2M ep:8K epch:16.72 loss:0.044 grdn:2.561 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:35:58 ot_train.py:423 step:188K smpl:2M ep:8K epch:16.74 loss:0.046 grdn:2.600 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:36:06 ot_train.py:423 step:188K smpl:2M ep:8K epch:16.76 loss:0.046 grdn:2.622 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:36:14 ot_train.py:423 step:189K smpl:2M ep:8K epch:16.78 loss:0.045 grdn:2.631 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:36:22 ot_train.py:423 step:189K smpl:2M ep:8K epch:16.80 loss:0.045 grdn:2.608 lr:1.0e-05 updt_s:0.037 data_s:0.006
INFO 2026-03-12 20:36:31 ot_train.py:423 step:189K smpl:2M ep:8K epch:16.81 loss:0.045 grdn:2.615 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:36:39 ot_train.py:423 step:189K smpl:2M ep:8K epch:16.83 loss:0.046 grdn:2.703 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:36:47 ot_train.py:423 step:189K smpl:2M ep:8K epch:16.85 loss:0.045 grdn:2.576 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:36:55 ot_train.py:423 step:190K smpl:2M ep:8K epch:16.87 loss:0.046 grdn:2.570 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:37:03 ot_train.py:423 step:190K smpl:2M ep:8K epch:16.88 loss:0.046 grdn:2.629 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:37:11 ot_train.py:423 step:190K smpl:2M ep:8K epch:16.90 loss:0.044 grdn:2.568 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:37:11 ot_train.py:443 Checkpoint policy after step 190000
[Avatar] Pushing checkpoint (step 190000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 20:37:17 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 190000) OK
[Avatar] Tagged as 'step-190000'
INFO 2026-03-12 20:37:27 ot_train.py:423 step:190K smpl:2M ep:8K epch:16.92 loss:0.044 grdn:2.569 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:37:35 ot_train.py:423 step:190K smpl:2M ep:8K epch:16.94 loss:0.044 grdn:2.575 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:37:43 ot_train.py:423 step:191K smpl:2M ep:8K epch:16.96 loss:0.045 grdn:2.542 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:37:51 ot_train.py:423 step:191K smpl:2M ep:8K epch:16.97 loss:0.045 grdn:2.665 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:38:00 ot_train.py:423 step:191K smpl:2M ep:8K epch:16.99 loss:0.045 grdn:2.701 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:38:25 ot_train.py:423 step:191K smpl:2M ep:8K epch:17.01 loss:0.045 grdn:2.501 lr:1.0e-05 updt_s:0.037 data_s:0.090
INFO 2026-03-12 20:38:52 ot_train.py:423 step:191K smpl:2M ep:8K epch:17.03 loss:0.045 grdn:2.625 lr:1.0e-05 updt_s:0.038 data_s:0.098
INFO 2026-03-12 20:39:09 ot_train.py:423 step:192K smpl:2M ep:8K epch:17.04 loss:0.044 grdn:2.720 lr:1.0e-05 updt_s:0.036 data_s:0.048
INFO 2026-03-12 20:39:22 ot_train.py:423 step:192K smpl:2M ep:8K epch:17.06 loss:0.045 grdn:2.549 lr:1.0e-05 updt_s:0.038 data_s:0.026
INFO 2026-03-12 20:39:32 ot_train.py:423 step:192K smpl:2M ep:8K epch:17.08 loss:0.045 grdn:2.599 lr:1.0e-05 updt_s:0.037 data_s:0.014
INFO 2026-03-12 20:39:41 ot_train.py:423 step:192K smpl:2M ep:8K epch:17.10 loss:0.044 grdn:2.591 lr:1.0e-05 updt_s:0.037 data_s:0.009
INFO 2026-03-12 20:39:50 ot_train.py:423 step:192K smpl:2M ep:8K epch:17.12 loss:0.044 grdn:2.604 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 20:39:58 ot_train.py:423 step:193K smpl:2M ep:8K epch:17.13 loss:0.043 grdn:2.540 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:40:07 ot_train.py:423 step:193K smpl:2M ep:8K epch:17.15 loss:0.044 grdn:2.628 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:40:15 ot_train.py:423 step:193K smpl:2M ep:8K epch:17.17 loss:0.045 grdn:2.596 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:40:23 ot_train.py:423 step:193K smpl:2M ep:8K epch:17.19 loss:0.043 grdn:2.495 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:40:31 ot_train.py:423 step:193K smpl:2M ep:8K epch:17.21 loss:0.043 grdn:2.461 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:40:39 ot_train.py:423 step:194K smpl:2M ep:8K epch:17.22 loss:0.045 grdn:2.615 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:40:47 ot_train.py:423 step:194K smpl:2M ep:8K epch:17.24 loss:0.044 grdn:2.507 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:40:55 ot_train.py:423 step:194K smpl:2M ep:8K epch:17.26 loss:0.043 grdn:2.470 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:41:04 ot_train.py:423 step:194K smpl:2M ep:8K epch:17.28 loss:0.044 grdn:2.532 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:41:12 ot_train.py:423 step:194K smpl:2M ep:8K epch:17.29 loss:0.045 grdn:2.542 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:41:20 ot_train.py:423 step:195K smpl:2M ep:8K epch:17.31 loss:0.046 grdn:2.576 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:41:28 ot_train.py:423 step:195K smpl:2M ep:8K epch:17.33 loss:0.044 grdn:2.554 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:41:37 ot_train.py:423 step:195K smpl:2M ep:8K epch:17.35 loss:0.044 grdn:2.468 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:41:45 ot_train.py:423 step:195K smpl:2M ep:8K epch:17.37 loss:0.044 grdn:2.495 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:41:53 ot_train.py:423 step:195K smpl:2M ep:8K epch:17.38 loss:0.045 grdn:2.680 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:42:01 ot_train.py:423 step:196K smpl:2M ep:8K epch:17.40 loss:0.045 grdn:2.612 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:42:09 ot_train.py:423 step:196K smpl:2M ep:8K epch:17.42 loss:0.045 grdn:2.546 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:42:17 ot_train.py:423 step:196K smpl:2M ep:8K epch:17.44 loss:0.046 grdn:2.534 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:42:25 ot_train.py:423 step:196K smpl:2M ep:8K epch:17.45 loss:0.044 grdn:2.500 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:42:33 ot_train.py:423 step:196K smpl:2M ep:8K epch:17.47 loss:0.044 grdn:2.534 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:42:42 ot_train.py:423 step:197K smpl:2M ep:8K epch:17.49 loss:0.044 grdn:2.590 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:42:49 ot_train.py:423 step:197K smpl:2M ep:8K epch:17.51 loss:0.045 grdn:2.507 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:42:58 ot_train.py:423 step:197K smpl:2M ep:8K epch:17.53 loss:0.043 grdn:2.477 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:43:06 ot_train.py:423 step:197K smpl:2M ep:8K epch:17.54 loss:0.044 grdn:2.496 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:43:15 ot_train.py:423 step:197K smpl:2M ep:8K epch:17.56 loss:0.044 grdn:2.680 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:43:23 ot_train.py:423 step:198K smpl:2M ep:8K epch:17.58 loss:0.045 grdn:2.521 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:43:31 ot_train.py:423 step:198K smpl:2M ep:8K epch:17.60 loss:0.045 grdn:2.553 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:43:39 ot_train.py:423 step:198K smpl:2M ep:8K epch:17.61 loss:0.043 grdn:2.445 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:43:47 ot_train.py:423 step:198K smpl:2M ep:8K epch:17.63 loss:0.044 grdn:2.572 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:43:55 ot_train.py:423 step:198K smpl:2M ep:8K epch:17.65 loss:0.044 grdn:2.571 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:44:03 ot_train.py:423 step:199K smpl:2M ep:8K epch:17.67 loss:0.045 grdn:2.576 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:44:12 ot_train.py:423 step:199K smpl:2M ep:8K epch:17.69 loss:0.044 grdn:2.504 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:44:20 ot_train.py:423 step:199K smpl:2M ep:8K epch:17.70 loss:0.044 grdn:2.553 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:44:28 ot_train.py:423 step:199K smpl:2M ep:8K epch:17.72 loss:0.044 grdn:2.451 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:44:36 ot_train.py:423 step:199K smpl:2M ep:8K epch:17.74 loss:0.044 grdn:2.499 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:44:44 ot_train.py:423 step:200K smpl:2M ep:8K epch:17.76 loss:0.044 grdn:2.527 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:44:52 ot_train.py:423 step:200K smpl:2M ep:8K epch:17.77 loss:0.044 grdn:2.536 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:45:00 ot_train.py:423 step:200K smpl:2M ep:8K epch:17.79 loss:0.044 grdn:2.587 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 20:45:00 ot_train.py:443 Checkpoint policy after step 200000
[Avatar] Pushing checkpoint (step 200000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 20:45:06 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 200000) OK
[Avatar] Tagged as 'step-200000'
INFO 2026-03-12 20:45:17 ot_train.py:423 step:200K smpl:2M ep:8K epch:17.81 loss:0.044 grdn:2.455 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:45:25 ot_train.py:423 step:200K smpl:2M ep:8K epch:17.83 loss:0.045 grdn:2.539 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:45:33 ot_train.py:423 step:201K smpl:2M ep:8K epch:17.85 loss:0.043 grdn:2.421 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:45:41 ot_train.py:423 step:201K smpl:2M ep:8K epch:17.86 loss:0.044 grdn:2.544 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:45:49 ot_train.py:423 step:201K smpl:2M ep:8K epch:17.88 loss:0.045 grdn:2.473 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:45:57 ot_train.py:423 step:201K smpl:2M ep:8K epch:17.90 loss:0.044 grdn:2.502 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:46:05 ot_train.py:423 step:201K smpl:2M ep:8K epch:17.92 loss:0.043 grdn:2.490 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:46:13 ot_train.py:423 step:202K smpl:2M ep:8K epch:17.93 loss:0.043 grdn:2.470 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:46:22 ot_train.py:423 step:202K smpl:2M ep:8K epch:17.95 loss:0.044 grdn:2.454 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:46:30 ot_train.py:423 step:202K smpl:2M ep:8K epch:17.97 loss:0.044 grdn:2.525 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:46:39 ot_train.py:423 step:202K smpl:2M ep:8K epch:17.99 loss:0.044 grdn:2.520 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:46:59 ot_train.py:423 step:202K smpl:2M ep:8K epch:18.01 loss:0.043 grdn:2.477 lr:1.0e-05 updt_s:0.037 data_s:0.064
INFO 2026-03-12 20:47:31 ot_train.py:423 step:203K smpl:2M ep:8K epch:18.02 loss:0.044 grdn:2.399 lr:1.0e-05 updt_s:0.039 data_s:0.124
INFO 2026-03-12 20:47:48 ot_train.py:423 step:203K smpl:2M ep:8K epch:18.04 loss:0.044 grdn:2.523 lr:1.0e-05 updt_s:0.038 data_s:0.046
INFO 2026-03-12 20:48:03 ot_train.py:423 step:203K smpl:2M ep:8K epch:18.06 loss:0.042 grdn:2.461 lr:1.0e-05 updt_s:0.039 data_s:0.036
INFO 2026-03-12 20:48:14 ot_train.py:423 step:203K smpl:2M ep:8K epch:18.08 loss:0.042 grdn:2.419 lr:1.0e-05 updt_s:0.038 data_s:0.016
INFO 2026-03-12 20:48:24 ot_train.py:423 step:203K smpl:2M ep:8K epch:18.09 loss:0.043 grdn:2.536 lr:1.0e-05 updt_s:0.038 data_s:0.012
INFO 2026-03-12 20:48:33 ot_train.py:423 step:204K smpl:2M ep:8K epch:18.11 loss:0.043 grdn:2.434 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 20:48:42 ot_train.py:423 step:204K smpl:2M ep:9K epch:18.13 loss:0.044 grdn:2.461 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 20:48:50 ot_train.py:423 step:204K smpl:2M ep:9K epch:18.15 loss:0.044 grdn:2.579 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:48:58 ot_train.py:423 step:204K smpl:2M ep:9K epch:18.17 loss:0.043 grdn:2.474 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:49:07 ot_train.py:423 step:204K smpl:2M ep:9K epch:18.18 loss:0.043 grdn:2.403 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:49:15 ot_train.py:423 step:205K smpl:2M ep:9K epch:18.20 loss:0.043 grdn:2.467 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:49:24 ot_train.py:423 step:205K smpl:2M ep:9K epch:18.22 loss:0.043 grdn:2.435 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:49:33 ot_train.py:423 step:205K smpl:2M ep:9K epch:18.24 loss:0.043 grdn:2.405 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:49:41 ot_train.py:423 step:205K smpl:2M ep:9K epch:18.25 loss:0.044 grdn:2.410 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:49:50 ot_train.py:423 step:205K smpl:2M ep:9K epch:18.27 loss:0.044 grdn:2.530 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:49:58 ot_train.py:423 step:206K smpl:2M ep:9K epch:18.29 loss:0.044 grdn:2.424 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:50:06 ot_train.py:423 step:206K smpl:2M ep:9K epch:18.31 loss:0.043 grdn:2.469 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:50:15 ot_train.py:423 step:206K smpl:2M ep:9K epch:18.33 loss:0.043 grdn:2.482 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:50:23 ot_train.py:423 step:206K smpl:2M ep:9K epch:18.34 loss:0.043 grdn:2.442 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:50:32 ot_train.py:423 step:206K smpl:2M ep:9K epch:18.36 loss:0.043 grdn:2.399 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:50:40 ot_train.py:423 step:207K smpl:2M ep:9K epch:18.38 loss:0.043 grdn:2.423 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:50:49 ot_train.py:423 step:207K smpl:2M ep:9K epch:18.40 loss:0.043 grdn:2.487 lr:1.0e-05 updt_s:0.039 data_s:0.004
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INFO 2026-03-12 20:51:06 ot_train.py:423 step:207K smpl:2M ep:9K epch:18.43 loss:0.043 grdn:2.384 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:51:14 ot_train.py:423 step:207K smpl:2M ep:9K epch:18.45 loss:0.042 grdn:2.365 lr:1.0e-05 updt_s:0.039 data_s:0.004
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INFO 2026-03-12 20:51:31 ot_train.py:423 step:208K smpl:2M ep:9K epch:18.49 loss:0.043 grdn:2.417 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:51:39 ot_train.py:423 step:208K smpl:2M ep:9K epch:18.50 loss:0.043 grdn:2.408 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:51:48 ot_train.py:423 step:208K smpl:2M ep:9K epch:18.52 loss:0.043 grdn:2.432 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:51:56 ot_train.py:423 step:208K smpl:3M ep:9K epch:18.54 loss:0.043 grdn:2.427 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:52:05 ot_train.py:423 step:209K smpl:3M ep:9K epch:18.56 loss:0.043 grdn:2.607 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:52:13 ot_train.py:423 step:209K smpl:3M ep:9K epch:18.58 loss:0.043 grdn:2.424 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:52:21 ot_train.py:423 step:209K smpl:3M ep:9K epch:18.59 loss:0.042 grdn:2.452 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:52:30 ot_train.py:423 step:209K smpl:3M ep:9K epch:18.61 loss:0.043 grdn:2.315 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:52:38 ot_train.py:423 step:209K smpl:3M ep:9K epch:18.63 loss:0.043 grdn:2.401 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:52:47 ot_train.py:423 step:210K smpl:3M ep:9K epch:18.65 loss:0.043 grdn:2.418 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:52:55 ot_train.py:423 step:210K smpl:3M ep:9K epch:18.66 loss:0.043 grdn:2.494 lr:1.0e-05 updt_s:0.039 data_s:0.004
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INFO 2026-03-12 20:53:03 ot_train.py:443 Checkpoint policy after step 210000
[Avatar] Pushing checkpoint (step 210000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 20:53:11 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 210000) OK
[Avatar] Tagged as 'step-210000'
INFO 2026-03-12 20:53:20 ot_train.py:423 step:210K smpl:3M ep:9K epch:18.70 loss:0.042 grdn:2.439 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:53:29 ot_train.py:423 step:210K smpl:3M ep:9K epch:18.72 loss:0.043 grdn:2.415 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:53:37 ot_train.py:423 step:211K smpl:3M ep:9K epch:18.74 loss:0.043 grdn:2.482 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:53:45 ot_train.py:423 step:211K smpl:3M ep:9K epch:18.75 loss:0.044 grdn:2.391 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:53:53 ot_train.py:423 step:211K smpl:3M ep:9K epch:18.77 loss:0.043 grdn:2.429 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 20:54:01 ot_train.py:423 step:211K smpl:3M ep:9K epch:18.79 loss:0.043 grdn:2.483 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:54:10 ot_train.py:423 step:211K smpl:3M ep:9K epch:18.81 loss:0.043 grdn:2.429 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:54:18 ot_train.py:423 step:212K smpl:3M ep:9K epch:18.82 loss:0.043 grdn:2.435 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:54:26 ot_train.py:423 step:212K smpl:3M ep:9K epch:18.84 loss:0.042 grdn:2.409 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:54:34 ot_train.py:423 step:212K smpl:3M ep:9K epch:18.86 loss:0.042 grdn:2.363 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:54:42 ot_train.py:423 step:212K smpl:3M ep:9K epch:18.88 loss:0.043 grdn:2.391 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:54:50 ot_train.py:423 step:212K smpl:3M ep:9K epch:18.90 loss:0.044 grdn:2.435 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:54:59 ot_train.py:423 step:213K smpl:3M ep:9K epch:18.91 loss:0.042 grdn:2.342 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:55:07 ot_train.py:423 step:213K smpl:3M ep:9K epch:18.93 loss:0.043 grdn:2.461 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:55:15 ot_train.py:423 step:213K smpl:3M ep:9K epch:18.95 loss:0.042 grdn:2.326 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:55:24 ot_train.py:423 step:213K smpl:3M ep:9K epch:18.97 loss:0.042 grdn:2.278 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:55:33 ot_train.py:423 step:213K smpl:3M ep:9K epch:18.98 loss:0.043 grdn:2.369 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:55:47 ot_train.py:423 step:214K smpl:3M ep:9K epch:19.00 loss:0.043 grdn:2.438 lr:1.0e-05 updt_s:0.038 data_s:0.033
INFO 2026-03-12 20:56:18 ot_train.py:423 step:214K smpl:3M ep:9K epch:19.02 loss:0.042 grdn:2.395 lr:1.0e-05 updt_s:0.038 data_s:0.118
INFO 2026-03-12 20:56:38 ot_train.py:423 step:214K smpl:3M ep:9K epch:19.04 loss:0.043 grdn:2.445 lr:1.0e-05 updt_s:0.038 data_s:0.062
INFO 2026-03-12 20:56:52 ot_train.py:423 step:214K smpl:3M ep:9K epch:19.06 loss:0.042 grdn:2.437 lr:1.0e-05 updt_s:0.038 data_s:0.031
INFO 2026-03-12 20:57:03 ot_train.py:423 step:214K smpl:3M ep:9K epch:19.07 loss:0.041 grdn:2.387 lr:1.0e-05 updt_s:0.038 data_s:0.018
INFO 2026-03-12 20:57:13 ot_train.py:423 step:215K smpl:3M ep:9K epch:19.09 loss:0.042 grdn:2.460 lr:1.0e-05 updt_s:0.037 data_s:0.011
INFO 2026-03-12 20:57:21 ot_train.py:423 step:215K smpl:3M ep:9K epch:19.11 loss:0.042 grdn:2.389 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:57:30 ot_train.py:423 step:215K smpl:3M ep:9K epch:19.13 loss:0.042 grdn:2.383 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:57:38 ot_train.py:423 step:215K smpl:3M ep:9K epch:19.14 loss:0.042 grdn:2.343 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:57:47 ot_train.py:423 step:215K smpl:3M ep:9K epch:19.16 loss:0.043 grdn:2.466 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:57:56 ot_train.py:423 step:216K smpl:3M ep:9K epch:19.18 loss:0.042 grdn:2.396 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:58:04 ot_train.py:423 step:216K smpl:3M ep:9K epch:19.20 loss:0.041 grdn:2.267 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:58:12 ot_train.py:423 step:216K smpl:3M ep:9K epch:19.22 loss:0.043 grdn:2.431 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:58:20 ot_train.py:423 step:216K smpl:3M ep:9K epch:19.23 loss:0.043 grdn:2.385 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:58:29 ot_train.py:423 step:216K smpl:3M ep:9K epch:19.25 loss:0.042 grdn:2.403 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:58:37 ot_train.py:423 step:217K smpl:3M ep:9K epch:19.27 loss:0.042 grdn:2.348 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:58:45 ot_train.py:423 step:217K smpl:3M ep:9K epch:19.29 loss:0.043 grdn:2.511 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:58:53 ot_train.py:423 step:217K smpl:3M ep:9K epch:19.30 loss:0.042 grdn:2.391 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 20:59:02 ot_train.py:423 step:217K smpl:3M ep:9K epch:19.32 loss:0.042 grdn:2.422 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 20:59:10 ot_train.py:423 step:217K smpl:3M ep:9K epch:19.34 loss:0.043 grdn:2.353 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:59:19 ot_train.py:423 step:218K smpl:3M ep:9K epch:19.36 loss:0.042 grdn:2.257 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 20:59:27 ot_train.py:423 step:218K smpl:3M ep:9K epch:19.38 loss:0.042 grdn:2.364 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:59:35 ot_train.py:423 step:218K smpl:3M ep:9K epch:19.39 loss:0.041 grdn:2.355 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 20:59:44 ot_train.py:423 step:218K smpl:3M ep:9K epch:19.41 loss:0.042 grdn:2.364 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 20:59:53 ot_train.py:423 step:218K smpl:3M ep:9K epch:19.43 loss:0.043 grdn:2.367 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:00:01 ot_train.py:423 step:219K smpl:3M ep:9K epch:19.45 loss:0.044 grdn:2.460 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:00:10 ot_train.py:423 step:219K smpl:3M ep:9K epch:19.46 loss:0.042 grdn:2.261 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:00:18 ot_train.py:423 step:219K smpl:3M ep:9K epch:19.48 loss:0.042 grdn:2.353 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:00:27 ot_train.py:423 step:219K smpl:3M ep:9K epch:19.50 loss:0.043 grdn:2.434 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:00:35 ot_train.py:423 step:219K smpl:3M ep:9K epch:19.52 loss:0.043 grdn:2.355 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:00:44 ot_train.py:423 step:220K smpl:3M ep:9K epch:19.54 loss:0.041 grdn:2.398 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:00:53 ot_train.py:423 step:220K smpl:3M ep:9K epch:19.55 loss:0.043 grdn:2.457 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 21:01:01 ot_train.py:423 step:220K smpl:3M ep:9K epch:19.57 loss:0.042 grdn:2.345 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:01:01 ot_train.py:443 Checkpoint policy after step 220000
[Avatar] Pushing checkpoint (step 220000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 21:01:13 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 220000) OK
[Avatar] Tagged as 'step-220000'
INFO 2026-03-12 21:01:23 ot_train.py:423 step:220K smpl:3M ep:9K epch:19.59 loss:0.042 grdn:2.377 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:01:31 ot_train.py:423 step:220K smpl:3M ep:9K epch:19.61 loss:0.043 grdn:2.286 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:01:40 ot_train.py:423 step:221K smpl:3M ep:9K epch:19.62 loss:0.042 grdn:2.330 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:01:48 ot_train.py:423 step:221K smpl:3M ep:9K epch:19.64 loss:0.042 grdn:2.349 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:01:56 ot_train.py:423 step:221K smpl:3M ep:9K epch:19.66 loss:0.041 grdn:2.325 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:02:05 ot_train.py:423 step:221K smpl:3M ep:9K epch:19.68 loss:0.043 grdn:2.491 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:02:13 ot_train.py:423 step:221K smpl:3M ep:9K epch:19.70 loss:0.042 grdn:2.353 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:02:22 ot_train.py:423 step:222K smpl:3M ep:9K epch:19.71 loss:0.042 grdn:2.408 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:02:30 ot_train.py:423 step:222K smpl:3M ep:9K epch:19.73 loss:0.042 grdn:2.230 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:02:38 ot_train.py:423 step:222K smpl:3M ep:9K epch:19.75 loss:0.042 grdn:2.281 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:02:47 ot_train.py:423 step:222K smpl:3M ep:9K epch:19.77 loss:0.043 grdn:2.399 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:02:55 ot_train.py:423 step:222K smpl:3M ep:9K epch:19.79 loss:0.041 grdn:2.306 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:03:04 ot_train.py:423 step:223K smpl:3M ep:9K epch:19.80 loss:0.042 grdn:2.309 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:03:12 ot_train.py:423 step:223K smpl:3M ep:9K epch:19.82 loss:0.042 grdn:2.321 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:03:21 ot_train.py:423 step:223K smpl:3M ep:9K epch:19.84 loss:0.043 grdn:2.343 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:03:29 ot_train.py:423 step:223K smpl:3M ep:9K epch:19.86 loss:0.042 grdn:2.291 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:03:37 ot_train.py:423 step:223K smpl:3M ep:9K epch:19.87 loss:0.042 grdn:2.336 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:03:46 ot_train.py:423 step:224K smpl:3M ep:9K epch:19.89 loss:0.042 grdn:2.353 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:03:55 ot_train.py:423 step:224K smpl:3M ep:9K epch:19.91 loss:0.042 grdn:2.282 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:04:03 ot_train.py:423 step:224K smpl:3M ep:9K epch:19.93 loss:0.042 grdn:2.271 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:04:12 ot_train.py:423 step:224K smpl:3M ep:9K epch:19.95 loss:0.041 grdn:2.340 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:04:20 ot_train.py:423 step:224K smpl:3M ep:9K epch:19.96 loss:0.042 grdn:2.238 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:04:29 ot_train.py:423 step:225K smpl:3M ep:9K epch:19.98 loss:0.041 grdn:2.319 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 21:04:38 ot_train.py:423 step:225K smpl:3M ep:9K epch:20.00 loss:0.042 grdn:2.317 lr:1.0e-05 updt_s:0.041 data_s:0.004
INFO 2026-03-12 21:05:15 ot_train.py:423 step:225K smpl:3M ep:9K epch:20.02 loss:0.042 grdn:2.301 lr:1.0e-05 updt_s:0.039 data_s:0.145
INFO 2026-03-12 21:05:38 ot_train.py:423 step:225K smpl:3M ep:9K epch:20.03 loss:0.043 grdn:2.358 lr:1.0e-05 updt_s:0.039 data_s:0.078
INFO 2026-03-12 21:05:55 ot_train.py:423 step:225K smpl:3M ep:9K epch:20.05 loss:0.043 grdn:2.331 lr:1.0e-05 updt_s:0.039 data_s:0.044
INFO 2026-03-12 21:06:07 ot_train.py:423 step:226K smpl:3M ep:9K epch:20.07 loss:0.042 grdn:2.323 lr:1.0e-05 updt_s:0.038 data_s:0.022
INFO 2026-03-12 21:06:17 ot_train.py:423 step:226K smpl:3M ep:9K epch:20.09 loss:0.041 grdn:2.266 lr:1.0e-05 updt_s:0.037 data_s:0.016
INFO 2026-03-12 21:06:26 ot_train.py:423 step:226K smpl:3M ep:9K epch:20.11 loss:0.041 grdn:2.274 lr:1.0e-05 updt_s:0.038 data_s:0.006
INFO 2026-03-12 21:06:35 ot_train.py:423 step:226K smpl:3M ep:9K epch:20.12 loss:0.041 grdn:2.360 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 21:06:43 ot_train.py:423 step:226K smpl:3M ep:9K epch:20.14 loss:0.042 grdn:2.346 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:06:52 ot_train.py:423 step:227K smpl:3M ep:9K epch:20.16 loss:0.042 grdn:2.352 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:07:00 ot_train.py:423 step:227K smpl:3M ep:9K epch:20.18 loss:0.041 grdn:2.352 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:07:09 ot_train.py:423 step:227K smpl:3M ep:9K epch:20.19 loss:0.040 grdn:2.247 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 21:07:18 ot_train.py:423 step:227K smpl:3M ep:9K epch:20.21 loss:0.040 grdn:2.254 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:07:26 ot_train.py:423 step:227K smpl:3M ep:9K epch:20.23 loss:0.042 grdn:2.364 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:07:35 ot_train.py:423 step:228K smpl:3M ep:9K epch:20.25 loss:0.041 grdn:2.339 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:07:43 ot_train.py:423 step:228K smpl:3M ep:10K epch:20.27 loss:0.041 grdn:2.231 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:07:51 ot_train.py:423 step:228K smpl:3M ep:10K epch:20.28 loss:0.041 grdn:2.284 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:07:59 ot_train.py:423 step:228K smpl:3M ep:10K epch:20.30 loss:0.041 grdn:2.361 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:08:08 ot_train.py:423 step:228K smpl:3M ep:10K epch:20.32 loss:0.041 grdn:2.298 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:08:16 ot_train.py:423 step:229K smpl:3M ep:10K epch:20.34 loss:0.042 grdn:2.256 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:08:24 ot_train.py:423 step:229K smpl:3M ep:10K epch:20.35 loss:0.041 grdn:2.261 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:08:32 ot_train.py:423 step:229K smpl:3M ep:10K epch:20.37 loss:0.041 grdn:2.258 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:08:40 ot_train.py:423 step:229K smpl:3M ep:10K epch:20.39 loss:0.041 grdn:2.300 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:08:48 ot_train.py:423 step:229K smpl:3M ep:10K epch:20.41 loss:0.041 grdn:2.328 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:08:56 ot_train.py:423 step:230K smpl:3M ep:10K epch:20.43 loss:0.042 grdn:2.376 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:09:05 ot_train.py:423 step:230K smpl:3M ep:10K epch:20.44 loss:0.041 grdn:2.311 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:09:13 ot_train.py:423 step:230K smpl:3M ep:10K epch:20.46 loss:0.041 grdn:2.313 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:09:13 ot_train.py:443 Checkpoint policy after step 230000
[Avatar] Pushing checkpoint (step 230000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 21:09:19 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 230000) OK
[Avatar] Tagged as 'step-230000'
INFO 2026-03-12 21:09:29 ot_train.py:423 step:230K smpl:3M ep:10K epch:20.48 loss:0.040 grdn:2.292 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:09:37 ot_train.py:423 step:230K smpl:3M ep:10K epch:20.50 loss:0.041 grdn:2.316 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:09:45 ot_train.py:423 step:231K smpl:3M ep:10K epch:20.51 loss:0.041 grdn:2.349 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:09:53 ot_train.py:423 step:231K smpl:3M ep:10K epch:20.53 loss:0.040 grdn:2.270 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:10:02 ot_train.py:423 step:231K smpl:3M ep:10K epch:20.55 loss:0.041 grdn:2.349 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:10:10 ot_train.py:423 step:231K smpl:3M ep:10K epch:20.57 loss:0.041 grdn:2.261 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:10:18 ot_train.py:423 step:231K smpl:3M ep:10K epch:20.59 loss:0.041 grdn:2.270 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:10:26 ot_train.py:423 step:232K smpl:3M ep:10K epch:20.60 loss:0.041 grdn:2.267 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:10:34 ot_train.py:423 step:232K smpl:3M ep:10K epch:20.62 loss:0.041 grdn:2.258 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:10:42 ot_train.py:423 step:232K smpl:3M ep:10K epch:20.64 loss:0.041 grdn:2.278 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:10:50 ot_train.py:423 step:232K smpl:3M ep:10K epch:20.66 loss:0.041 grdn:2.320 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:10:58 ot_train.py:423 step:232K smpl:3M ep:10K epch:20.67 loss:0.041 grdn:2.295 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:11:06 ot_train.py:423 step:233K smpl:3M ep:10K epch:20.69 loss:0.041 grdn:2.315 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:11:14 ot_train.py:423 step:233K smpl:3M ep:10K epch:20.71 loss:0.041 grdn:2.235 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:11:23 ot_train.py:423 step:233K smpl:3M ep:10K epch:20.73 loss:0.040 grdn:2.221 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:11:31 ot_train.py:423 step:233K smpl:3M ep:10K epch:20.75 loss:0.041 grdn:2.252 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:11:40 ot_train.py:423 step:233K smpl:3M ep:10K epch:20.76 loss:0.042 grdn:2.299 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 21:11:48 ot_train.py:423 step:234K smpl:3M ep:10K epch:20.78 loss:0.041 grdn:2.295 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:11:56 ot_train.py:423 step:234K smpl:3M ep:10K epch:20.80 loss:0.043 grdn:2.392 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:12:05 ot_train.py:423 step:234K smpl:3M ep:10K epch:20.82 loss:0.041 grdn:2.307 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 21:12:14 ot_train.py:423 step:234K smpl:3M ep:10K epch:20.83 loss:0.041 grdn:2.263 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:12:22 ot_train.py:423 step:234K smpl:3M ep:10K epch:20.85 loss:0.041 grdn:2.262 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:12:30 ot_train.py:423 step:235K smpl:3M ep:10K epch:20.87 loss:0.041 grdn:2.274 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:12:39 ot_train.py:423 step:235K smpl:3M ep:10K epch:20.89 loss:0.041 grdn:2.248 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 21:12:48 ot_train.py:423 step:235K smpl:3M ep:10K epch:20.91 loss:0.040 grdn:2.216 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 21:12:56 ot_train.py:423 step:235K smpl:3M ep:10K epch:20.92 loss:0.042 grdn:2.293 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:13:05 ot_train.py:423 step:235K smpl:3M ep:10K epch:20.94 loss:0.042 grdn:2.260 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:13:13 ot_train.py:423 step:236K smpl:3M ep:10K epch:20.96 loss:0.041 grdn:2.227 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:13:22 ot_train.py:423 step:236K smpl:3M ep:10K epch:20.98 loss:0.040 grdn:2.187 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:13:30 ot_train.py:423 step:236K smpl:3M ep:10K epch:20.99 loss:0.040 grdn:2.261 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:14:00 ot_train.py:423 step:236K smpl:3M ep:10K epch:21.01 loss:0.041 grdn:2.243 lr:1.0e-05 updt_s:0.037 data_s:0.112
INFO 2026-03-12 21:14:25 ot_train.py:423 step:236K smpl:3M ep:10K epch:21.03 loss:0.041 grdn:2.308 lr:1.0e-05 updt_s:0.038 data_s:0.089
INFO 2026-03-12 21:14:43 ot_train.py:423 step:237K smpl:3M ep:10K epch:21.05 loss:0.041 grdn:2.267 lr:1.0e-05 updt_s:0.038 data_s:0.052
INFO 2026-03-12 21:14:57 ot_train.py:423 step:237K smpl:3M ep:10K epch:21.07 loss:0.041 grdn:2.291 lr:1.0e-05 updt_s:0.039 data_s:0.028
INFO 2026-03-12 21:15:08 ot_train.py:423 step:237K smpl:3M ep:10K epch:21.08 loss:0.040 grdn:2.260 lr:1.0e-05 updt_s:0.039 data_s:0.015
INFO 2026-03-12 21:15:17 ot_train.py:423 step:237K smpl:3M ep:10K epch:21.10 loss:0.041 grdn:2.290 lr:1.0e-05 updt_s:0.038 data_s:0.007
INFO 2026-03-12 21:15:26 ot_train.py:423 step:237K smpl:3M ep:10K epch:21.12 loss:0.040 grdn:2.264 lr:1.0e-05 updt_s:0.039 data_s:0.010
INFO 2026-03-12 21:15:35 ot_train.py:423 step:238K smpl:3M ep:10K epch:21.14 loss:0.039 grdn:2.283 lr:1.0e-05 updt_s:0.038 data_s:0.006
INFO 2026-03-12 21:15:44 ot_train.py:423 step:238K smpl:3M ep:10K epch:21.16 loss:0.040 grdn:2.174 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 21:15:52 ot_train.py:423 step:238K smpl:3M ep:10K epch:21.17 loss:0.040 grdn:2.234 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:16:01 ot_train.py:423 step:238K smpl:3M ep:10K epch:21.19 loss:0.040 grdn:2.192 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:16:09 ot_train.py:423 step:238K smpl:3M ep:10K epch:21.21 loss:0.040 grdn:2.214 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:16:18 ot_train.py:423 step:239K smpl:3M ep:10K epch:21.23 loss:0.041 grdn:2.271 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 21:16:26 ot_train.py:423 step:239K smpl:3M ep:10K epch:21.24 loss:0.040 grdn:2.197 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:16:35 ot_train.py:423 step:239K smpl:3M ep:10K epch:21.26 loss:0.040 grdn:2.218 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:16:43 ot_train.py:423 step:239K smpl:3M ep:10K epch:21.28 loss:0.040 grdn:2.160 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:16:52 ot_train.py:423 step:239K smpl:3M ep:10K epch:21.30 loss:0.041 grdn:2.199 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:17:00 ot_train.py:423 step:240K smpl:3M ep:10K epch:21.32 loss:0.040 grdn:2.178 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:17:09 ot_train.py:423 step:240K smpl:3M ep:10K epch:21.33 loss:0.040 grdn:2.207 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:17:17 ot_train.py:423 step:240K smpl:3M ep:10K epch:21.35 loss:0.040 grdn:2.241 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:17:17 ot_train.py:443 Checkpoint policy after step 240000
[Avatar] Pushing checkpoint (step 240000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 21:17:23 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 240000) OK
[Avatar] Tagged as 'step-240000'
INFO 2026-03-12 21:17:33 ot_train.py:423 step:240K smpl:3M ep:10K epch:21.37 loss:0.040 grdn:2.135 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:17:42 ot_train.py:423 step:240K smpl:3M ep:10K epch:21.39 loss:0.040 grdn:2.205 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:17:50 ot_train.py:423 step:241K smpl:3M ep:10K epch:21.40 loss:0.041 grdn:2.196 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:17:59 ot_train.py:423 step:241K smpl:3M ep:10K epch:21.42 loss:0.040 grdn:2.175 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:18:07 ot_train.py:423 step:241K smpl:3M ep:10K epch:21.44 loss:0.040 grdn:2.281 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:18:15 ot_train.py:423 step:241K smpl:3M ep:10K epch:21.46 loss:0.041 grdn:2.269 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:18:24 ot_train.py:423 step:241K smpl:3M ep:10K epch:21.48 loss:0.040 grdn:2.312 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:18:32 ot_train.py:423 step:242K smpl:3M ep:10K epch:21.49 loss:0.041 grdn:2.224 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:18:40 ot_train.py:423 step:242K smpl:3M ep:10K epch:21.51 loss:0.040 grdn:2.263 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:18:48 ot_train.py:423 step:242K smpl:3M ep:10K epch:21.53 loss:0.041 grdn:2.351 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:18:57 ot_train.py:423 step:242K smpl:3M ep:10K epch:21.55 loss:0.040 grdn:2.234 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:19:05 ot_train.py:423 step:242K smpl:3M ep:10K epch:21.56 loss:0.041 grdn:2.141 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:19:13 ot_train.py:423 step:243K smpl:3M ep:10K epch:21.58 loss:0.040 grdn:2.219 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:19:22 ot_train.py:423 step:243K smpl:3M ep:10K epch:21.60 loss:0.040 grdn:2.262 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:19:30 ot_train.py:423 step:243K smpl:3M ep:10K epch:21.62 loss:0.041 grdn:2.355 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:19:38 ot_train.py:423 step:243K smpl:3M ep:10K epch:21.64 loss:0.041 grdn:2.182 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:19:47 ot_train.py:423 step:243K smpl:3M ep:10K epch:21.65 loss:0.040 grdn:2.185 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:19:55 ot_train.py:423 step:244K smpl:3M ep:10K epch:21.67 loss:0.040 grdn:2.279 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:20:04 ot_train.py:423 step:244K smpl:3M ep:10K epch:21.69 loss:0.041 grdn:2.239 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 21:20:12 ot_train.py:423 step:244K smpl:3M ep:10K epch:21.71 loss:0.041 grdn:2.277 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:20:21 ot_train.py:423 step:244K smpl:3M ep:10K epch:21.72 loss:0.042 grdn:2.239 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:20:29 ot_train.py:423 step:244K smpl:3M ep:10K epch:21.74 loss:0.040 grdn:2.224 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:20:37 ot_train.py:423 step:245K smpl:3M ep:10K epch:21.76 loss:0.039 grdn:2.176 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:20:45 ot_train.py:423 step:245K smpl:3M ep:10K epch:21.78 loss:0.040 grdn:2.206 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:20:54 ot_train.py:423 step:245K smpl:3M ep:10K epch:21.80 loss:0.040 grdn:2.176 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:21:02 ot_train.py:423 step:245K smpl:3M ep:10K epch:21.81 loss:0.040 grdn:2.204 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:21:10 ot_train.py:423 step:245K smpl:3M ep:10K epch:21.83 loss:0.040 grdn:2.199 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:21:18 ot_train.py:423 step:246K smpl:3M ep:10K epch:21.85 loss:0.039 grdn:2.134 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:21:26 ot_train.py:423 step:246K smpl:3M ep:10K epch:21.87 loss:0.040 grdn:2.185 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:21:34 ot_train.py:423 step:246K smpl:3M ep:10K epch:21.88 loss:0.040 grdn:2.263 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:21:42 ot_train.py:423 step:246K smpl:3M ep:10K epch:21.90 loss:0.040 grdn:2.309 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:21:50 ot_train.py:423 step:246K smpl:3M ep:10K epch:21.92 loss:0.039 grdn:2.222 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:21:58 ot_train.py:423 step:247K smpl:3M ep:10K epch:21.94 loss:0.039 grdn:2.122 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:22:07 ot_train.py:423 step:247K smpl:3M ep:10K epch:21.96 loss:0.040 grdn:2.228 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:22:15 ot_train.py:423 step:247K smpl:3M ep:10K epch:21.97 loss:0.040 grdn:2.170 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:22:23 ot_train.py:423 step:247K smpl:3M ep:10K epch:21.99 loss:0.039 grdn:2.104 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:22:49 ot_train.py:423 step:247K smpl:3M ep:10K epch:22.01 loss:0.040 grdn:2.283 lr:1.0e-05 updt_s:0.039 data_s:0.092
INFO 2026-03-12 21:23:16 ot_train.py:423 step:248K smpl:3M ep:10K epch:22.03 loss:0.039 grdn:2.140 lr:1.0e-05 updt_s:0.038 data_s:0.098
INFO 2026-03-12 21:23:35 ot_train.py:423 step:248K smpl:3M ep:10K epch:22.04 loss:0.039 grdn:2.124 lr:1.0e-05 updt_s:0.037 data_s:0.055
INFO 2026-03-12 21:23:47 ot_train.py:423 step:248K smpl:3M ep:10K epch:22.06 loss:0.040 grdn:2.272 lr:1.0e-05 updt_s:0.037 data_s:0.025
INFO 2026-03-12 21:23:58 ot_train.py:423 step:248K smpl:3M ep:10K epch:22.08 loss:0.040 grdn:2.191 lr:1.0e-05 updt_s:0.037 data_s:0.018
INFO 2026-03-12 21:24:07 ot_train.py:423 step:248K smpl:3M ep:10K epch:22.10 loss:0.040 grdn:2.179 lr:1.0e-05 updt_s:0.037 data_s:0.006
INFO 2026-03-12 21:24:15 ot_train.py:423 step:249K smpl:3M ep:10K epch:22.12 loss:0.040 grdn:2.197 lr:1.0e-05 updt_s:0.038 data_s:0.006
INFO 2026-03-12 21:24:24 ot_train.py:423 step:249K smpl:3M ep:10K epch:22.13 loss:0.039 grdn:2.110 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:24:32 ot_train.py:423 step:249K smpl:3M ep:10K epch:22.15 loss:0.039 grdn:2.080 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:24:40 ot_train.py:423 step:249K smpl:3M ep:10K epch:22.17 loss:0.040 grdn:2.162 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:24:48 ot_train.py:423 step:249K smpl:3M ep:10K epch:22.19 loss:0.040 grdn:2.176 lr:1.0e-05 updt_s:0.037 data_s:0.006
INFO 2026-03-12 21:24:57 ot_train.py:423 step:250K smpl:3M ep:10K epch:22.20 loss:0.041 grdn:2.110 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:25:05 ot_train.py:423 step:250K smpl:3M ep:10K epch:22.22 loss:0.039 grdn:2.165 lr:1.0e-05 updt_s:0.037 data_s:0.003
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INFO 2026-03-12 21:25:13 ot_train.py:443 Checkpoint policy after step 250000
[Avatar] Pushing checkpoint (step 250000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 21:25:19 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 250000) OK
[Avatar] Tagged as 'step-250000'
INFO 2026-03-12 21:25:29 ot_train.py:423 step:250K smpl:3M ep:10K epch:22.26 loss:0.039 grdn:2.060 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:25:38 ot_train.py:423 step:250K smpl:3M ep:10K epch:22.28 loss:0.039 grdn:2.211 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:25:46 ot_train.py:423 step:251K smpl:3M ep:10K epch:22.29 loss:0.039 grdn:2.200 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:25:55 ot_train.py:423 step:251K smpl:3M ep:10K epch:22.31 loss:0.039 grdn:2.140 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:26:02 ot_train.py:423 step:251K smpl:3M ep:10K epch:22.33 loss:0.039 grdn:2.108 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:26:11 ot_train.py:423 step:251K smpl:3M ep:10K epch:22.35 loss:0.040 grdn:2.202 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:26:19 ot_train.py:423 step:251K smpl:3M ep:10K epch:22.36 loss:0.040 grdn:2.220 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:26:28 ot_train.py:423 step:252K smpl:3M ep:10K epch:22.38 loss:0.040 grdn:2.212 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:26:36 ot_train.py:423 step:252K smpl:3M ep:11K epch:22.40 loss:0.039 grdn:2.156 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:26:44 ot_train.py:423 step:252K smpl:3M ep:11K epch:22.42 loss:0.040 grdn:2.249 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:26:52 ot_train.py:423 step:252K smpl:3M ep:11K epch:22.44 loss:0.040 grdn:2.149 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:27:01 ot_train.py:423 step:252K smpl:3M ep:11K epch:22.45 loss:0.039 grdn:2.164 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:27:09 ot_train.py:423 step:253K smpl:3M ep:11K epch:22.47 loss:0.039 grdn:2.119 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:27:17 ot_train.py:423 step:253K smpl:3M ep:11K epch:22.49 loss:0.040 grdn:2.165 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:27:25 ot_train.py:423 step:253K smpl:3M ep:11K epch:22.51 loss:0.039 grdn:2.162 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:27:33 ot_train.py:423 step:253K smpl:3M ep:11K epch:22.53 loss:0.040 grdn:2.204 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:27:41 ot_train.py:423 step:253K smpl:3M ep:11K epch:22.54 loss:0.040 grdn:2.142 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:27:49 ot_train.py:423 step:254K smpl:3M ep:11K epch:22.56 loss:0.039 grdn:2.090 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:27:58 ot_train.py:423 step:254K smpl:3M ep:11K epch:22.58 loss:0.039 grdn:2.114 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:28:06 ot_train.py:423 step:254K smpl:3M ep:11K epch:22.60 loss:0.040 grdn:2.200 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:28:14 ot_train.py:423 step:254K smpl:3M ep:11K epch:22.61 loss:0.041 grdn:2.168 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:28:22 ot_train.py:423 step:254K smpl:3M ep:11K epch:22.63 loss:0.040 grdn:2.181 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:28:31 ot_train.py:423 step:255K smpl:3M ep:11K epch:22.65 loss:0.040 grdn:2.196 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:28:39 ot_train.py:423 step:255K smpl:3M ep:11K epch:22.67 loss:0.040 grdn:2.228 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:28:47 ot_train.py:423 step:255K smpl:3M ep:11K epch:22.69 loss:0.039 grdn:2.110 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:28:55 ot_train.py:423 step:255K smpl:3M ep:11K epch:22.70 loss:0.040 grdn:2.202 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:29:04 ot_train.py:423 step:255K smpl:3M ep:11K epch:22.72 loss:0.039 grdn:2.126 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:29:12 ot_train.py:423 step:256K smpl:3M ep:11K epch:22.74 loss:0.039 grdn:2.202 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:29:20 ot_train.py:423 step:256K smpl:3M ep:11K epch:22.76 loss:0.039 grdn:2.082 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:29:29 ot_train.py:423 step:256K smpl:3M ep:11K epch:22.77 loss:0.039 grdn:2.033 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:29:37 ot_train.py:423 step:256K smpl:3M ep:11K epch:22.79 loss:0.039 grdn:2.185 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:29:45 ot_train.py:423 step:256K smpl:3M ep:11K epch:22.81 loss:0.040 grdn:2.142 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:29:53 ot_train.py:423 step:257K smpl:3M ep:11K epch:22.83 loss:0.039 grdn:2.100 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:30:01 ot_train.py:423 step:257K smpl:3M ep:11K epch:22.85 loss:0.039 grdn:2.137 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:30:09 ot_train.py:423 step:257K smpl:3M ep:11K epch:22.86 loss:0.039 grdn:2.124 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:30:17 ot_train.py:423 step:257K smpl:3M ep:11K epch:22.88 loss:0.038 grdn:2.079 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:30:26 ot_train.py:423 step:257K smpl:3M ep:11K epch:22.90 loss:0.039 grdn:2.201 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:30:34 ot_train.py:423 step:258K smpl:3M ep:11K epch:22.92 loss:0.039 grdn:2.197 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:30:42 ot_train.py:423 step:258K smpl:3M ep:11K epch:22.93 loss:0.039 grdn:2.089 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:30:50 ot_train.py:423 step:258K smpl:3M ep:11K epch:22.95 loss:0.039 grdn:2.125 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:30:59 ot_train.py:423 step:258K smpl:3M ep:11K epch:22.97 loss:0.039 grdn:2.197 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:31:07 ot_train.py:423 step:258K smpl:3M ep:11K epch:22.99 loss:0.039 grdn:2.128 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:31:28 ot_train.py:423 step:259K smpl:3M ep:11K epch:23.01 loss:0.040 grdn:2.196 lr:1.0e-05 updt_s:0.037 data_s:0.066
INFO 2026-03-12 21:31:59 ot_train.py:423 step:259K smpl:3M ep:11K epch:23.02 loss:0.039 grdn:2.102 lr:1.0e-05 updt_s:0.037 data_s:0.120
INFO 2026-03-12 21:32:17 ot_train.py:423 step:259K smpl:3M ep:11K epch:23.04 loss:0.039 grdn:2.141 lr:1.0e-05 updt_s:0.037 data_s:0.055
INFO 2026-03-12 21:32:31 ot_train.py:423 step:259K smpl:3M ep:11K epch:23.06 loss:0.039 grdn:2.086 lr:1.0e-05 updt_s:0.037 data_s:0.032
INFO 2026-03-12 21:32:42 ot_train.py:423 step:259K smpl:3M ep:11K epch:23.08 loss:0.039 grdn:2.095 lr:1.0e-05 updt_s:0.037 data_s:0.019
INFO 2026-03-12 21:32:52 ot_train.py:423 step:260K smpl:3M ep:11K epch:23.09 loss:0.039 grdn:2.173 lr:1.0e-05 updt_s:0.038 data_s:0.008
INFO 2026-03-12 21:33:00 ot_train.py:423 step:260K smpl:3M ep:11K epch:23.11 loss:0.039 grdn:2.165 lr:1.0e-05 updt_s:0.038 data_s:0.005
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INFO 2026-03-12 21:33:08 ot_train.py:443 Checkpoint policy after step 260000
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INFO 2026-03-12 21:33:15 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 260000) OK
[Avatar] Tagged as 'step-260000'
INFO 2026-03-12 21:33:26 ot_train.py:423 step:260K smpl:3M ep:11K epch:23.15 loss:0.039 grdn:2.112 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:33:34 ot_train.py:423 step:260K smpl:3M ep:11K epch:23.17 loss:0.039 grdn:2.124 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:33:43 ot_train.py:423 step:261K smpl:3M ep:11K epch:23.18 loss:0.039 grdn:2.189 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:33:51 ot_train.py:423 step:261K smpl:3M ep:11K epch:23.20 loss:0.038 grdn:2.093 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:33:59 ot_train.py:423 step:261K smpl:3M ep:11K epch:23.22 loss:0.040 grdn:2.057 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:34:07 ot_train.py:423 step:261K smpl:3M ep:11K epch:23.24 loss:0.038 grdn:2.106 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:34:16 ot_train.py:423 step:261K smpl:3M ep:11K epch:23.25 loss:0.039 grdn:2.100 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:34:24 ot_train.py:423 step:262K smpl:3M ep:11K epch:23.27 loss:0.039 grdn:2.143 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:34:32 ot_train.py:423 step:262K smpl:3M ep:11K epch:23.29 loss:0.039 grdn:2.112 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:34:41 ot_train.py:423 step:262K smpl:3M ep:11K epch:23.31 loss:0.040 grdn:2.143 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:34:49 ot_train.py:423 step:262K smpl:3M ep:11K epch:23.33 loss:0.038 grdn:2.007 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:34:57 ot_train.py:423 step:262K smpl:3M ep:11K epch:23.34 loss:0.038 grdn:2.031 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:35:05 ot_train.py:423 step:263K smpl:3M ep:11K epch:23.36 loss:0.039 grdn:2.103 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:35:14 ot_train.py:423 step:263K smpl:3M ep:11K epch:23.38 loss:0.041 grdn:2.169 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:35:23 ot_train.py:423 step:263K smpl:3M ep:11K epch:23.40 loss:0.039 grdn:2.226 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 21:35:32 ot_train.py:423 step:263K smpl:3M ep:11K epch:23.41 loss:0.039 grdn:2.133 lr:1.0e-05 updt_s:0.041 data_s:0.004
INFO 2026-03-12 21:35:40 ot_train.py:423 step:263K smpl:3M ep:11K epch:23.43 loss:0.039 grdn:2.195 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:35:48 ot_train.py:423 step:264K smpl:3M ep:11K epch:23.45 loss:0.039 grdn:2.157 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:35:57 ot_train.py:423 step:264K smpl:3M ep:11K epch:23.47 loss:0.039 grdn:2.121 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:36:05 ot_train.py:423 step:264K smpl:3M ep:11K epch:23.49 loss:0.038 grdn:2.104 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:36:14 ot_train.py:423 step:264K smpl:3M ep:11K epch:23.50 loss:0.039 grdn:2.100 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:36:22 ot_train.py:423 step:264K smpl:3M ep:11K epch:23.52 loss:0.038 grdn:2.091 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:36:31 ot_train.py:423 step:265K smpl:3M ep:11K epch:23.54 loss:0.039 grdn:2.150 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:36:39 ot_train.py:423 step:265K smpl:3M ep:11K epch:23.56 loss:0.038 grdn:2.083 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:36:48 ot_train.py:423 step:265K smpl:3M ep:11K epch:23.57 loss:0.039 grdn:2.185 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:36:56 ot_train.py:423 step:265K smpl:3M ep:11K epch:23.59 loss:0.038 grdn:2.027 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:37:05 ot_train.py:423 step:265K smpl:3M ep:11K epch:23.61 loss:0.039 grdn:2.084 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:37:13 ot_train.py:423 step:266K smpl:3M ep:11K epch:23.63 loss:0.039 grdn:2.114 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:37:21 ot_train.py:423 step:266K smpl:3M ep:11K epch:23.65 loss:0.039 grdn:2.155 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:37:29 ot_train.py:423 step:266K smpl:3M ep:11K epch:23.66 loss:0.038 grdn:2.087 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:37:37 ot_train.py:423 step:266K smpl:3M ep:11K epch:23.68 loss:0.038 grdn:2.073 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:37:45 ot_train.py:423 step:266K smpl:3M ep:11K epch:23.70 loss:0.039 grdn:2.113 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:37:53 ot_train.py:423 step:267K smpl:3M ep:11K epch:23.72 loss:0.039 grdn:2.169 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:38:01 ot_train.py:423 step:267K smpl:3M ep:11K epch:23.73 loss:0.039 grdn:2.164 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:38:10 ot_train.py:423 step:267K smpl:3M ep:11K epch:23.75 loss:0.039 grdn:2.106 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:38:18 ot_train.py:423 step:267K smpl:3M ep:11K epch:23.77 loss:0.038 grdn:2.132 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:38:26 ot_train.py:423 step:267K smpl:3M ep:11K epch:23.79 loss:0.039 grdn:2.179 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:38:34 ot_train.py:423 step:268K smpl:3M ep:11K epch:23.81 loss:0.038 grdn:2.118 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:38:42 ot_train.py:423 step:268K smpl:3M ep:11K epch:23.82 loss:0.038 grdn:2.056 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:38:50 ot_train.py:423 step:268K smpl:3M ep:11K epch:23.84 loss:0.039 grdn:2.104 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:38:59 ot_train.py:423 step:268K smpl:3M ep:11K epch:23.86 loss:0.039 grdn:2.119 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:39:07 ot_train.py:423 step:268K smpl:3M ep:11K epch:23.88 loss:0.038 grdn:2.102 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:39:15 ot_train.py:423 step:269K smpl:3M ep:11K epch:23.90 loss:0.039 grdn:2.182 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:39:23 ot_train.py:423 step:269K smpl:3M ep:11K epch:23.91 loss:0.038 grdn:2.024 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:39:31 ot_train.py:423 step:269K smpl:3M ep:11K epch:23.93 loss:0.038 grdn:2.031 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:39:40 ot_train.py:423 step:269K smpl:3M ep:11K epch:23.95 loss:0.038 grdn:2.045 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:39:48 ot_train.py:423 step:269K smpl:3M ep:11K epch:23.97 loss:0.038 grdn:2.062 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:39:56 ot_train.py:423 step:270K smpl:3M ep:11K epch:23.98 loss:0.038 grdn:2.095 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:40:10 ot_train.py:423 step:270K smpl:3M ep:11K epch:24.00 loss:0.038 grdn:2.096 lr:1.0e-05 updt_s:0.036 data_s:0.032
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INFO 2026-03-12 21:40:42 ot_train.py:443 Checkpoint policy after step 270000
[Avatar] Pushing checkpoint (step 270000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 21:40:48 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 270000) OK
[Avatar] Tagged as 'step-270000'
INFO 2026-03-12 21:41:06 ot_train.py:423 step:270K smpl:3M ep:11K epch:24.04 loss:0.039 grdn:2.067 lr:1.0e-05 updt_s:0.038 data_s:0.045
INFO 2026-03-12 21:41:21 ot_train.py:423 step:270K smpl:3M ep:11K epch:24.06 loss:0.038 grdn:2.081 lr:1.0e-05 updt_s:0.038 data_s:0.036
INFO 2026-03-12 21:41:32 ot_train.py:423 step:271K smpl:3M ep:11K epch:24.07 loss:0.038 grdn:2.041 lr:1.0e-05 updt_s:0.037 data_s:0.019
INFO 2026-03-12 21:41:42 ot_train.py:423 step:271K smpl:3M ep:11K epch:24.09 loss:0.038 grdn:2.045 lr:1.0e-05 updt_s:0.038 data_s:0.009
INFO 2026-03-12 21:41:50 ot_train.py:423 step:271K smpl:3M ep:11K epch:24.11 loss:0.038 grdn:2.083 lr:1.0e-05 updt_s:0.038 data_s:0.006
INFO 2026-03-12 21:41:59 ot_train.py:423 step:271K smpl:3M ep:11K epch:24.13 loss:0.038 grdn:2.085 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:42:07 ot_train.py:423 step:271K smpl:3M ep:11K epch:24.14 loss:0.038 grdn:2.081 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:42:16 ot_train.py:423 step:272K smpl:3M ep:11K epch:24.16 loss:0.039 grdn:2.125 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:42:24 ot_train.py:423 step:272K smpl:3M ep:11K epch:24.18 loss:0.038 grdn:2.078 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:42:32 ot_train.py:423 step:272K smpl:3M ep:11K epch:24.20 loss:0.039 grdn:2.121 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:42:40 ot_train.py:423 step:272K smpl:3M ep:11K epch:24.22 loss:0.038 grdn:2.107 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:42:49 ot_train.py:423 step:272K smpl:3M ep:11K epch:24.23 loss:0.039 grdn:2.158 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:42:57 ot_train.py:423 step:273K smpl:3M ep:11K epch:24.25 loss:0.038 grdn:2.127 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:43:05 ot_train.py:423 step:273K smpl:3M ep:11K epch:24.27 loss:0.038 grdn:2.064 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:43:13 ot_train.py:423 step:273K smpl:3M ep:11K epch:24.29 loss:0.038 grdn:1.981 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:43:21 ot_train.py:423 step:273K smpl:3M ep:11K epch:24.30 loss:0.038 grdn:2.059 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:43:29 ot_train.py:423 step:273K smpl:3M ep:11K epch:24.32 loss:0.038 grdn:2.011 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:43:38 ot_train.py:423 step:274K smpl:3M ep:11K epch:24.34 loss:0.039 grdn:2.146 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:43:46 ot_train.py:423 step:274K smpl:3M ep:11K epch:24.36 loss:0.038 grdn:2.058 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:43:54 ot_train.py:423 step:274K smpl:3M ep:11K epch:24.38 loss:0.038 grdn:2.140 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:44:02 ot_train.py:423 step:274K smpl:3M ep:11K epch:24.39 loss:0.038 grdn:2.059 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:44:10 ot_train.py:423 step:274K smpl:3M ep:11K epch:24.41 loss:0.038 grdn:2.034 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:44:19 ot_train.py:423 step:275K smpl:3M ep:11K epch:24.43 loss:0.038 grdn:2.021 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:44:27 ot_train.py:423 step:275K smpl:3M ep:11K epch:24.45 loss:0.037 grdn:2.028 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:44:35 ot_train.py:423 step:275K smpl:3M ep:11K epch:24.46 loss:0.038 grdn:2.152 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:44:43 ot_train.py:423 step:275K smpl:3M ep:11K epch:24.48 loss:0.039 grdn:2.052 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:44:51 ot_train.py:423 step:275K smpl:3M ep:11K epch:24.50 loss:0.037 grdn:2.081 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:44:59 ot_train.py:423 step:276K smpl:3M ep:11K epch:24.52 loss:0.039 grdn:2.104 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:45:07 ot_train.py:423 step:276K smpl:3M ep:12K epch:24.54 loss:0.039 grdn:2.098 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:45:15 ot_train.py:423 step:276K smpl:3M ep:12K epch:24.55 loss:0.038 grdn:2.013 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:45:23 ot_train.py:423 step:276K smpl:3M ep:12K epch:24.57 loss:0.038 grdn:2.036 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:45:31 ot_train.py:423 step:276K smpl:3M ep:12K epch:24.59 loss:0.038 grdn:2.082 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:45:39 ot_train.py:423 step:277K smpl:3M ep:12K epch:24.61 loss:0.037 grdn:1.997 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:45:48 ot_train.py:423 step:277K smpl:3M ep:12K epch:24.62 loss:0.038 grdn:2.111 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:45:56 ot_train.py:423 step:277K smpl:3M ep:12K epch:24.64 loss:0.038 grdn:2.031 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:46:04 ot_train.py:423 step:277K smpl:3M ep:12K epch:24.66 loss:0.037 grdn:2.087 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:46:13 ot_train.py:423 step:277K smpl:3M ep:12K epch:24.68 loss:0.037 grdn:2.047 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:46:21 ot_train.py:423 step:278K smpl:3M ep:12K epch:24.70 loss:0.038 grdn:2.023 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:46:30 ot_train.py:423 step:278K smpl:3M ep:12K epch:24.71 loss:0.037 grdn:2.018 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:46:38 ot_train.py:423 step:278K smpl:3M ep:12K epch:24.73 loss:0.038 grdn:2.033 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:46:46 ot_train.py:423 step:278K smpl:3M ep:12K epch:24.75 loss:0.037 grdn:1.932 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:46:54 ot_train.py:423 step:278K smpl:3M ep:12K epch:24.77 loss:0.037 grdn:2.014 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:47:02 ot_train.py:423 step:279K smpl:3M ep:12K epch:24.78 loss:0.038 grdn:2.034 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:47:11 ot_train.py:423 step:279K smpl:3M ep:12K epch:24.80 loss:0.038 grdn:2.131 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:47:19 ot_train.py:423 step:279K smpl:3M ep:12K epch:24.82 loss:0.038 grdn:1.982 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:47:27 ot_train.py:423 step:279K smpl:3M ep:12K epch:24.84 loss:0.037 grdn:2.046 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:47:36 ot_train.py:423 step:279K smpl:3M ep:12K epch:24.86 loss:0.038 grdn:1.962 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:47:44 ot_train.py:423 step:280K smpl:3M ep:12K epch:24.87 loss:0.038 grdn:2.035 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:47:52 ot_train.py:423 step:280K smpl:3M ep:12K epch:24.89 loss:0.038 grdn:1.994 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:48:01 ot_train.py:423 step:280K smpl:3M ep:12K epch:24.91 loss:0.039 grdn:2.123 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:48:01 ot_train.py:443 Checkpoint policy after step 280000
[Avatar] Pushing checkpoint (step 280000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 21:48:06 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 280000) OK
[Avatar] Tagged as 'step-280000'
INFO 2026-03-12 21:48:17 ot_train.py:423 step:280K smpl:3M ep:12K epch:24.93 loss:0.038 grdn:2.027 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:48:25 ot_train.py:423 step:280K smpl:3M ep:12K epch:24.94 loss:0.038 grdn:2.030 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:48:33 ot_train.py:423 step:281K smpl:3M ep:12K epch:24.96 loss:0.038 grdn:2.022 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:48:42 ot_train.py:423 step:281K smpl:3M ep:12K epch:24.98 loss:0.038 grdn:2.014 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:48:49 ot_train.py:423 step:281K smpl:3M ep:12K epch:25.00 loss:0.038 grdn:2.064 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:49:25 ot_train.py:423 step:281K smpl:3M ep:12K epch:25.02 loss:0.038 grdn:2.031 lr:1.0e-05 updt_s:0.038 data_s:0.141
INFO 2026-03-12 21:49:48 ot_train.py:423 step:281K smpl:3M ep:12K epch:25.03 loss:0.037 grdn:2.009 lr:1.0e-05 updt_s:0.037 data_s:0.077
INFO 2026-03-12 21:50:02 ot_train.py:423 step:282K smpl:3M ep:12K epch:25.05 loss:0.038 grdn:2.037 lr:1.0e-05 updt_s:0.038 data_s:0.034
INFO 2026-03-12 21:50:14 ot_train.py:423 step:282K smpl:3M ep:12K epch:25.07 loss:0.037 grdn:2.053 lr:1.0e-05 updt_s:0.037 data_s:0.021
INFO 2026-03-12 21:50:24 ot_train.py:423 step:282K smpl:3M ep:12K epch:25.09 loss:0.037 grdn:2.003 lr:1.0e-05 updt_s:0.038 data_s:0.012
INFO 2026-03-12 21:50:33 ot_train.py:423 step:282K smpl:3M ep:12K epch:25.10 loss:0.038 grdn:2.028 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 21:50:41 ot_train.py:423 step:282K smpl:3M ep:12K epch:25.12 loss:0.038 grdn:1.975 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 21:50:49 ot_train.py:423 step:283K smpl:3M ep:12K epch:25.14 loss:0.037 grdn:1.931 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:50:58 ot_train.py:423 step:283K smpl:3M ep:12K epch:25.16 loss:0.037 grdn:1.934 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:51:06 ot_train.py:423 step:283K smpl:3M ep:12K epch:25.18 loss:0.038 grdn:2.035 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:51:14 ot_train.py:423 step:283K smpl:3M ep:12K epch:25.19 loss:0.038 grdn:2.013 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:51:22 ot_train.py:423 step:283K smpl:3M ep:12K epch:25.21 loss:0.037 grdn:2.004 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:51:30 ot_train.py:423 step:284K smpl:3M ep:12K epch:25.23 loss:0.038 grdn:2.063 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:51:39 ot_train.py:423 step:284K smpl:3M ep:12K epch:25.25 loss:0.037 grdn:1.993 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:51:47 ot_train.py:423 step:284K smpl:3M ep:12K epch:25.27 loss:0.038 grdn:2.064 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:51:55 ot_train.py:423 step:284K smpl:3M ep:12K epch:25.28 loss:0.037 grdn:2.006 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:52:04 ot_train.py:423 step:284K smpl:3M ep:12K epch:25.30 loss:0.037 grdn:2.037 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:52:12 ot_train.py:423 step:285K smpl:3M ep:12K epch:25.32 loss:0.037 grdn:1.933 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:52:21 ot_train.py:423 step:285K smpl:3M ep:12K epch:25.34 loss:0.037 grdn:1.954 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:52:29 ot_train.py:423 step:285K smpl:3M ep:12K epch:25.35 loss:0.037 grdn:1.977 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 21:52:37 ot_train.py:423 step:285K smpl:3M ep:12K epch:25.37 loss:0.037 grdn:1.915 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:52:46 ot_train.py:423 step:285K smpl:3M ep:12K epch:25.39 loss:0.038 grdn:1.986 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:52:54 ot_train.py:423 step:286K smpl:3M ep:12K epch:25.41 loss:0.037 grdn:2.022 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:53:03 ot_train.py:423 step:286K smpl:3M ep:12K epch:25.43 loss:0.037 grdn:1.931 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:53:11 ot_train.py:423 step:286K smpl:3M ep:12K epch:25.44 loss:0.037 grdn:1.960 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:53:19 ot_train.py:423 step:286K smpl:3M ep:12K epch:25.46 loss:0.038 grdn:2.004 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:53:27 ot_train.py:423 step:286K smpl:3M ep:12K epch:25.48 loss:0.037 grdn:1.946 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:53:35 ot_train.py:423 step:287K smpl:3M ep:12K epch:25.50 loss:0.038 grdn:2.011 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:53:44 ot_train.py:423 step:287K smpl:3M ep:12K epch:25.51 loss:0.038 grdn:2.004 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:53:52 ot_train.py:423 step:287K smpl:3M ep:12K epch:25.53 loss:0.038 grdn:1.939 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:54:01 ot_train.py:423 step:287K smpl:3M ep:12K epch:25.55 loss:0.037 grdn:1.948 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:54:10 ot_train.py:423 step:287K smpl:3M ep:12K epch:25.57 loss:0.037 grdn:1.991 lr:1.0e-05 updt_s:0.039 data_s:0.007
INFO 2026-03-12 21:54:19 ot_train.py:423 step:288K smpl:3M ep:12K epch:25.59 loss:0.037 grdn:1.920 lr:1.0e-05 updt_s:0.039 data_s:0.006
INFO 2026-03-12 21:54:28 ot_train.py:423 step:288K smpl:3M ep:12K epch:25.60 loss:0.037 grdn:1.970 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 21:54:36 ot_train.py:423 step:288K smpl:3M ep:12K epch:25.62 loss:0.037 grdn:1.999 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:54:45 ot_train.py:423 step:288K smpl:3M ep:12K epch:25.64 loss:0.038 grdn:1.970 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 21:54:54 ot_train.py:423 step:288K smpl:3M ep:12K epch:25.66 loss:0.037 grdn:2.015 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:55:02 ot_train.py:423 step:289K smpl:3M ep:12K epch:25.67 loss:0.038 grdn:2.002 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:55:11 ot_train.py:423 step:289K smpl:3M ep:12K epch:25.69 loss:0.038 grdn:1.970 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 21:55:20 ot_train.py:423 step:289K smpl:3M ep:12K epch:25.71 loss:0.037 grdn:1.933 lr:1.0e-05 updt_s:0.039 data_s:0.005
INFO 2026-03-12 21:55:29 ot_train.py:423 step:289K smpl:3M ep:12K epch:25.73 loss:0.037 grdn:1.925 lr:1.0e-05 updt_s:0.039 data_s:0.007
INFO 2026-03-12 21:55:37 ot_train.py:423 step:289K smpl:3M ep:12K epch:25.75 loss:0.037 grdn:2.003 lr:1.0e-05 updt_s:0.036 data_s:0.004
INFO 2026-03-12 21:55:45 ot_train.py:423 step:290K smpl:3M ep:12K epch:25.76 loss:0.036 grdn:1.945 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 21:55:53 ot_train.py:423 step:290K smpl:3M ep:12K epch:25.78 loss:0.037 grdn:1.992 lr:1.0e-05 updt_s:0.038 data_s:0.004
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INFO 2026-03-12 21:56:02 ot_train.py:443 Checkpoint policy after step 290000
[Avatar] Pushing checkpoint (step 290000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 21:56:07 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 290000) OK
[Avatar] Tagged as 'step-290000'
INFO 2026-03-12 21:56:18 ot_train.py:423 step:290K smpl:3M ep:12K epch:25.82 loss:0.037 grdn:1.924 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:56:26 ot_train.py:423 step:290K smpl:3M ep:12K epch:25.83 loss:0.038 grdn:1.996 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:56:35 ot_train.py:423 step:291K smpl:3M ep:12K epch:25.85 loss:0.037 grdn:1.958 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:56:44 ot_train.py:423 step:291K smpl:3M ep:12K epch:25.87 loss:0.037 grdn:1.891 lr:1.0e-05 updt_s:0.040 data_s:0.005
INFO 2026-03-12 21:56:52 ot_train.py:423 step:291K smpl:3M ep:12K epch:25.89 loss:0.037 grdn:1.995 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:57:00 ot_train.py:423 step:291K smpl:3M ep:12K epch:25.91 loss:0.038 grdn:1.980 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:57:08 ot_train.py:423 step:291K smpl:3M ep:12K epch:25.92 loss:0.037 grdn:1.973 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:57:17 ot_train.py:423 step:292K smpl:3M ep:12K epch:25.94 loss:0.038 grdn:2.030 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 21:57:25 ot_train.py:423 step:292K smpl:4M ep:12K epch:25.96 loss:0.038 grdn:1.923 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 21:57:33 ot_train.py:423 step:292K smpl:4M ep:12K epch:25.98 loss:0.038 grdn:2.060 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:57:41 ot_train.py:423 step:292K smpl:4M ep:12K epch:25.99 loss:0.037 grdn:1.929 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 21:58:11 ot_train.py:423 step:292K smpl:4M ep:12K epch:26.01 loss:0.037 grdn:1.956 lr:1.0e-05 updt_s:0.037 data_s:0.114
INFO 2026-03-12 21:58:35 ot_train.py:423 step:293K smpl:4M ep:12K epch:26.03 loss:0.037 grdn:1.942 lr:1.0e-05 updt_s:0.037 data_s:0.078
INFO 2026-03-12 21:58:52 ot_train.py:423 step:293K smpl:4M ep:12K epch:26.05 loss:0.036 grdn:1.932 lr:1.0e-05 updt_s:0.037 data_s:0.047
INFO 2026-03-12 21:59:04 ot_train.py:423 step:293K smpl:4M ep:12K epch:26.07 loss:0.037 grdn:1.972 lr:1.0e-05 updt_s:0.038 data_s:0.026
INFO 2026-03-12 21:59:15 ot_train.py:423 step:293K smpl:4M ep:12K epch:26.08 loss:0.037 grdn:1.967 lr:1.0e-05 updt_s:0.038 data_s:0.014
INFO 2026-03-12 21:59:23 ot_train.py:423 step:293K smpl:4M ep:12K epch:26.10 loss:0.037 grdn:2.035 lr:1.0e-05 updt_s:0.037 data_s:0.006
INFO 2026-03-12 21:59:32 ot_train.py:423 step:294K smpl:4M ep:12K epch:26.12 loss:0.036 grdn:1.893 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 21:59:40 ot_train.py:423 step:294K smpl:4M ep:12K epch:26.14 loss:0.037 grdn:2.005 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 21:59:49 ot_train.py:423 step:294K smpl:4M ep:12K epch:26.15 loss:0.037 grdn:1.925 lr:1.0e-05 updt_s:0.040 data_s:0.005
INFO 2026-03-12 21:59:57 ot_train.py:423 step:294K smpl:4M ep:12K epch:26.17 loss:0.037 grdn:1.931 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:00:06 ot_train.py:423 step:294K smpl:4M ep:12K epch:26.19 loss:0.036 grdn:1.920 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:00:14 ot_train.py:423 step:295K smpl:4M ep:12K epch:26.21 loss:0.036 grdn:1.954 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:00:23 ot_train.py:423 step:295K smpl:4M ep:12K epch:26.23 loss:0.037 grdn:1.939 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:00:31 ot_train.py:423 step:295K smpl:4M ep:12K epch:26.24 loss:0.036 grdn:1.898 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 22:00:40 ot_train.py:423 step:295K smpl:4M ep:12K epch:26.26 loss:0.036 grdn:2.000 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:00:48 ot_train.py:423 step:295K smpl:4M ep:12K epch:26.28 loss:0.037 grdn:1.950 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:00:56 ot_train.py:423 step:296K smpl:4M ep:12K epch:26.30 loss:0.037 grdn:1.950 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:01:05 ot_train.py:423 step:296K smpl:4M ep:12K epch:26.31 loss:0.037 grdn:1.916 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:01:14 ot_train.py:423 step:296K smpl:4M ep:12K epch:26.33 loss:0.037 grdn:1.978 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:01:22 ot_train.py:423 step:296K smpl:4M ep:12K epch:26.35 loss:0.037 grdn:1.972 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:01:31 ot_train.py:423 step:296K smpl:4M ep:12K epch:26.37 loss:0.037 grdn:1.962 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:01:39 ot_train.py:423 step:297K smpl:4M ep:12K epch:26.39 loss:0.037 grdn:1.931 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:01:48 ot_train.py:423 step:297K smpl:4M ep:12K epch:26.40 loss:0.037 grdn:1.913 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:01:57 ot_train.py:423 step:297K smpl:4M ep:12K epch:26.42 loss:0.036 grdn:1.954 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:02:05 ot_train.py:423 step:297K smpl:4M ep:12K epch:26.44 loss:0.039 grdn:2.009 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:02:13 ot_train.py:423 step:297K smpl:4M ep:12K epch:26.46 loss:0.038 grdn:1.985 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:02:22 ot_train.py:423 step:298K smpl:4M ep:12K epch:26.47 loss:0.038 grdn:1.929 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:02:30 ot_train.py:423 step:298K smpl:4M ep:12K epch:26.49 loss:0.037 grdn:1.977 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:02:38 ot_train.py:423 step:298K smpl:4M ep:12K epch:26.51 loss:0.036 grdn:1.890 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:02:46 ot_train.py:423 step:298K smpl:4M ep:12K epch:26.53 loss:0.036 grdn:1.918 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:02:55 ot_train.py:423 step:298K smpl:4M ep:12K epch:26.55 loss:0.036 grdn:1.917 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 22:03:04 ot_train.py:423 step:299K smpl:4M ep:12K epch:26.56 loss:0.035 grdn:1.934 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:03:12 ot_train.py:423 step:299K smpl:4M ep:12K epch:26.58 loss:0.036 grdn:1.875 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 22:03:21 ot_train.py:423 step:299K smpl:4M ep:12K epch:26.60 loss:0.036 grdn:1.930 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:03:29 ot_train.py:423 step:299K smpl:4M ep:12K epch:26.62 loss:0.037 grdn:2.005 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:03:37 ot_train.py:423 step:299K smpl:4M ep:12K epch:26.64 loss:0.037 grdn:2.015 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:03:45 ot_train.py:423 step:300K smpl:4M ep:13K epch:26.65 loss:0.036 grdn:1.987 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:03:54 ot_train.py:423 step:300K smpl:4M ep:13K epch:26.67 loss:0.037 grdn:1.997 lr:1.0e-05 updt_s:0.038 data_s:0.004
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INFO 2026-03-12 22:04:02 ot_train.py:443 Checkpoint policy after step 300000
[Avatar] Pushing checkpoint (step 300000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 22:04:09 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 300000) OK
[Avatar] Tagged as 'step-300000'
INFO 2026-03-12 22:04:19 ot_train.py:423 step:300K smpl:4M ep:13K epch:26.71 loss:0.037 grdn:1.930 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:04:28 ot_train.py:423 step:300K smpl:4M ep:13K epch:26.72 loss:0.036 grdn:1.885 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:04:36 ot_train.py:423 step:301K smpl:4M ep:13K epch:26.74 loss:0.036 grdn:1.997 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:04:45 ot_train.py:423 step:301K smpl:4M ep:13K epch:26.76 loss:0.037 grdn:1.944 lr:1.0e-05 updt_s:0.038 data_s:0.006
INFO 2026-03-12 22:04:53 ot_train.py:423 step:301K smpl:4M ep:13K epch:26.78 loss:0.037 grdn:1.940 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:05:01 ot_train.py:423 step:301K smpl:4M ep:13K epch:26.80 loss:0.036 grdn:1.936 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:05:09 ot_train.py:423 step:301K smpl:4M ep:13K epch:26.81 loss:0.037 grdn:1.948 lr:1.0e-05 updt_s:0.036 data_s:0.004
INFO 2026-03-12 22:05:17 ot_train.py:423 step:302K smpl:4M ep:13K epch:26.83 loss:0.036 grdn:1.920 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:05:26 ot_train.py:423 step:302K smpl:4M ep:13K epch:26.85 loss:0.036 grdn:1.929 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 22:05:34 ot_train.py:423 step:302K smpl:4M ep:13K epch:26.87 loss:0.036 grdn:1.954 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:05:41 ot_train.py:423 step:302K smpl:4M ep:13K epch:26.88 loss:0.036 grdn:1.916 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:05:50 ot_train.py:423 step:302K smpl:4M ep:13K epch:26.90 loss:0.038 grdn:1.999 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:05:59 ot_train.py:423 step:303K smpl:4M ep:13K epch:26.92 loss:0.037 grdn:1.963 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 22:06:07 ot_train.py:423 step:303K smpl:4M ep:13K epch:26.94 loss:0.037 grdn:1.948 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 22:06:15 ot_train.py:423 step:303K smpl:4M ep:13K epch:26.96 loss:0.037 grdn:1.974 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:06:24 ot_train.py:423 step:303K smpl:4M ep:13K epch:26.97 loss:0.036 grdn:1.907 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:06:32 ot_train.py:423 step:303K smpl:4M ep:13K epch:26.99 loss:0.038 grdn:1.936 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:06:58 ot_train.py:423 step:304K smpl:4M ep:13K epch:27.01 loss:0.037 grdn:1.931 lr:1.0e-05 updt_s:0.038 data_s:0.090
INFO 2026-03-12 22:07:25 ot_train.py:423 step:304K smpl:4M ep:13K epch:27.03 loss:0.037 grdn:1.978 lr:1.0e-05 updt_s:0.038 data_s:0.101
INFO 2026-03-12 22:07:42 ot_train.py:423 step:304K smpl:4M ep:13K epch:27.04 loss:0.038 grdn:1.988 lr:1.0e-05 updt_s:0.037 data_s:0.048
INFO 2026-03-12 22:07:55 ot_train.py:423 step:304K smpl:4M ep:13K epch:27.06 loss:0.036 grdn:1.919 lr:1.0e-05 updt_s:0.038 data_s:0.023
INFO 2026-03-12 22:08:05 ot_train.py:423 step:304K smpl:4M ep:13K epch:27.08 loss:0.037 grdn:1.933 lr:1.0e-05 updt_s:0.037 data_s:0.014
INFO 2026-03-12 22:08:14 ot_train.py:423 step:305K smpl:4M ep:13K epch:27.10 loss:0.036 grdn:1.921 lr:1.0e-05 updt_s:0.037 data_s:0.008
INFO 2026-03-12 22:08:23 ot_train.py:423 step:305K smpl:4M ep:13K epch:27.12 loss:0.037 grdn:1.994 lr:1.0e-05 updt_s:0.038 data_s:0.009
INFO 2026-03-12 22:08:32 ot_train.py:423 step:305K smpl:4M ep:13K epch:27.13 loss:0.036 grdn:1.965 lr:1.0e-05 updt_s:0.038 data_s:0.006
INFO 2026-03-12 22:08:40 ot_train.py:423 step:305K smpl:4M ep:13K epch:27.15 loss:0.037 grdn:1.941 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:08:48 ot_train.py:423 step:305K smpl:4M ep:13K epch:27.17 loss:0.036 grdn:1.967 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:08:56 ot_train.py:423 step:306K smpl:4M ep:13K epch:27.19 loss:0.036 grdn:1.941 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:09:05 ot_train.py:423 step:306K smpl:4M ep:13K epch:27.20 loss:0.036 grdn:1.954 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:09:13 ot_train.py:423 step:306K smpl:4M ep:13K epch:27.22 loss:0.037 grdn:1.845 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:09:21 ot_train.py:423 step:306K smpl:4M ep:13K epch:27.24 loss:0.036 grdn:1.876 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:09:29 ot_train.py:423 step:306K smpl:4M ep:13K epch:27.26 loss:0.037 grdn:1.921 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:09:38 ot_train.py:423 step:307K smpl:4M ep:13K epch:27.28 loss:0.035 grdn:1.837 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:09:46 ot_train.py:423 step:307K smpl:4M ep:13K epch:27.29 loss:0.036 grdn:1.850 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:09:54 ot_train.py:423 step:307K smpl:4M ep:13K epch:27.31 loss:0.035 grdn:1.931 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:10:02 ot_train.py:423 step:307K smpl:4M ep:13K epch:27.33 loss:0.036 grdn:1.972 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:10:10 ot_train.py:423 step:307K smpl:4M ep:13K epch:27.35 loss:0.036 grdn:1.939 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:10:18 ot_train.py:423 step:308K smpl:4M ep:13K epch:27.36 loss:0.036 grdn:1.898 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:10:27 ot_train.py:423 step:308K smpl:4M ep:13K epch:27.38 loss:0.036 grdn:1.912 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:10:35 ot_train.py:423 step:308K smpl:4M ep:13K epch:27.40 loss:0.036 grdn:1.931 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:10:43 ot_train.py:423 step:308K smpl:4M ep:13K epch:27.42 loss:0.036 grdn:1.930 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:10:51 ot_train.py:423 step:308K smpl:4M ep:13K epch:27.44 loss:0.036 grdn:1.887 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:10:59 ot_train.py:423 step:309K smpl:4M ep:13K epch:27.45 loss:0.036 grdn:1.915 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:11:08 ot_train.py:423 step:309K smpl:4M ep:13K epch:27.47 loss:0.036 grdn:1.956 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:11:15 ot_train.py:423 step:309K smpl:4M ep:13K epch:27.49 loss:0.036 grdn:1.874 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:11:24 ot_train.py:423 step:309K smpl:4M ep:13K epch:27.51 loss:0.035 grdn:1.871 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:11:32 ot_train.py:423 step:309K smpl:4M ep:13K epch:27.52 loss:0.037 grdn:1.943 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:11:40 ot_train.py:423 step:310K smpl:4M ep:13K epch:27.54 loss:0.035 grdn:1.921 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:11:48 ot_train.py:423 step:310K smpl:4M ep:13K epch:27.56 loss:0.036 grdn:1.942 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:11:56 ot_train.py:423 step:310K smpl:4M ep:13K epch:27.58 loss:0.036 grdn:1.931 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:11:56 ot_train.py:443 Checkpoint policy after step 310000
[Avatar] Pushing checkpoint (step 310000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 22:12:02 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 310000) OK
[Avatar] Tagged as 'step-310000'
INFO 2026-03-12 22:12:12 ot_train.py:423 step:310K smpl:4M ep:13K epch:27.60 loss:0.036 grdn:1.885 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:12:20 ot_train.py:423 step:310K smpl:4M ep:13K epch:27.61 loss:0.036 grdn:1.862 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:12:29 ot_train.py:423 step:311K smpl:4M ep:13K epch:27.63 loss:0.037 grdn:1.866 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:12:36 ot_train.py:423 step:311K smpl:4M ep:13K epch:27.65 loss:0.036 grdn:1.912 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:12:44 ot_train.py:423 step:311K smpl:4M ep:13K epch:27.67 loss:0.036 grdn:1.906 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:12:52 ot_train.py:423 step:311K smpl:4M ep:13K epch:27.68 loss:0.036 grdn:1.954 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:13:00 ot_train.py:423 step:311K smpl:4M ep:13K epch:27.70 loss:0.037 grdn:1.908 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:13:08 ot_train.py:423 step:312K smpl:4M ep:13K epch:27.72 loss:0.035 grdn:1.873 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:13:17 ot_train.py:423 step:312K smpl:4M ep:13K epch:27.74 loss:0.036 grdn:1.917 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:13:25 ot_train.py:423 step:312K smpl:4M ep:13K epch:27.76 loss:0.036 grdn:1.946 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:13:33 ot_train.py:423 step:312K smpl:4M ep:13K epch:27.77 loss:0.037 grdn:1.965 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:13:42 ot_train.py:423 step:312K smpl:4M ep:13K epch:27.79 loss:0.036 grdn:1.916 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:13:50 ot_train.py:423 step:313K smpl:4M ep:13K epch:27.81 loss:0.035 grdn:1.882 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 22:13:59 ot_train.py:423 step:313K smpl:4M ep:13K epch:27.83 loss:0.036 grdn:1.883 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:14:07 ot_train.py:423 step:313K smpl:4M ep:13K epch:27.84 loss:0.036 grdn:1.916 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:14:15 ot_train.py:423 step:313K smpl:4M ep:13K epch:27.86 loss:0.036 grdn:1.981 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:14:23 ot_train.py:423 step:313K smpl:4M ep:13K epch:27.88 loss:0.036 grdn:1.936 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:14:31 ot_train.py:423 step:314K smpl:4M ep:13K epch:27.90 loss:0.036 grdn:1.900 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:14:39 ot_train.py:423 step:314K smpl:4M ep:13K epch:27.92 loss:0.035 grdn:1.843 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:14:47 ot_train.py:423 step:314K smpl:4M ep:13K epch:27.93 loss:0.036 grdn:1.947 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:14:55 ot_train.py:423 step:314K smpl:4M ep:13K epch:27.95 loss:0.036 grdn:1.900 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:15:04 ot_train.py:423 step:314K smpl:4M ep:13K epch:27.97 loss:0.036 grdn:1.897 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:15:12 ot_train.py:423 step:315K smpl:4M ep:13K epch:27.99 loss:0.037 grdn:1.977 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:15:32 ot_train.py:423 step:315K smpl:4M ep:13K epch:28.01 loss:0.037 grdn:1.914 lr:1.0e-05 updt_s:0.036 data_s:0.062
INFO 2026-03-12 22:16:03 ot_train.py:423 step:315K smpl:4M ep:13K epch:28.02 loss:0.036 grdn:1.927 lr:1.0e-05 updt_s:0.037 data_s:0.122
INFO 2026-03-12 22:16:23 ot_train.py:423 step:315K smpl:4M ep:13K epch:28.04 loss:0.035 grdn:1.906 lr:1.0e-05 updt_s:0.037 data_s:0.059
INFO 2026-03-12 22:16:37 ot_train.py:423 step:315K smpl:4M ep:13K epch:28.06 loss:0.035 grdn:1.860 lr:1.0e-05 updt_s:0.037 data_s:0.032
INFO 2026-03-12 22:16:48 ot_train.py:423 step:316K smpl:4M ep:13K epch:28.08 loss:0.035 grdn:1.883 lr:1.0e-05 updt_s:0.037 data_s:0.019
INFO 2026-03-12 22:16:57 ot_train.py:423 step:316K smpl:4M ep:13K epch:28.09 loss:0.036 grdn:1.862 lr:1.0e-05 updt_s:0.037 data_s:0.008
INFO 2026-03-12 22:17:05 ot_train.py:423 step:316K smpl:4M ep:13K epch:28.11 loss:0.037 grdn:1.960 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:17:14 ot_train.py:423 step:316K smpl:4M ep:13K epch:28.13 loss:0.036 grdn:1.903 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:17:21 ot_train.py:423 step:316K smpl:4M ep:13K epch:28.15 loss:0.036 grdn:1.938 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:17:30 ot_train.py:423 step:317K smpl:4M ep:13K epch:28.17 loss:0.036 grdn:1.953 lr:1.0e-05 updt_s:0.037 data_s:0.007
INFO 2026-03-12 22:17:39 ot_train.py:423 step:317K smpl:4M ep:13K epch:28.18 loss:0.036 grdn:1.834 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 22:17:47 ot_train.py:423 step:317K smpl:4M ep:13K epch:28.20 loss:0.035 grdn:1.888 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:17:55 ot_train.py:423 step:317K smpl:4M ep:13K epch:28.22 loss:0.035 grdn:1.904 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:18:04 ot_train.py:423 step:317K smpl:4M ep:13K epch:28.24 loss:0.036 grdn:1.892 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 22:18:13 ot_train.py:423 step:318K smpl:4M ep:13K epch:28.25 loss:0.035 grdn:1.842 lr:1.0e-05 updt_s:0.038 data_s:0.006
INFO 2026-03-12 22:18:21 ot_train.py:423 step:318K smpl:4M ep:13K epch:28.27 loss:0.036 grdn:1.935 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:18:29 ot_train.py:423 step:318K smpl:4M ep:13K epch:28.29 loss:0.036 grdn:1.897 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:18:37 ot_train.py:423 step:318K smpl:4M ep:13K epch:28.31 loss:0.036 grdn:1.907 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:18:45 ot_train.py:423 step:318K smpl:4M ep:13K epch:28.33 loss:0.038 grdn:1.969 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:18:53 ot_train.py:423 step:319K smpl:4M ep:13K epch:28.34 loss:0.036 grdn:1.908 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:19:01 ot_train.py:423 step:319K smpl:4M ep:13K epch:28.36 loss:0.035 grdn:1.878 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:19:09 ot_train.py:423 step:319K smpl:4M ep:13K epch:28.38 loss:0.035 grdn:1.904 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:19:18 ot_train.py:423 step:319K smpl:4M ep:13K epch:28.40 loss:0.035 grdn:1.890 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:19:26 ot_train.py:423 step:319K smpl:4M ep:13K epch:28.41 loss:0.036 grdn:1.894 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:19:34 ot_train.py:423 step:320K smpl:4M ep:13K epch:28.43 loss:0.036 grdn:1.944 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:19:42 ot_train.py:423 step:320K smpl:4M ep:13K epch:28.45 loss:0.035 grdn:1.832 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:19:50 ot_train.py:423 step:320K smpl:4M ep:13K epch:28.47 loss:0.036 grdn:1.923 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:19:50 ot_train.py:443 Checkpoint policy after step 320000
[Avatar] Pushing checkpoint (step 320000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 22:19:56 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 320000) OK
[Avatar] Tagged as 'step-320000'
INFO 2026-03-12 22:20:06 ot_train.py:423 step:320K smpl:4M ep:13K epch:28.49 loss:0.035 grdn:1.928 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:20:15 ot_train.py:423 step:320K smpl:4M ep:13K epch:28.50 loss:0.035 grdn:1.808 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:20:23 ot_train.py:423 step:321K smpl:4M ep:13K epch:28.52 loss:0.035 grdn:1.869 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:20:31 ot_train.py:423 step:321K smpl:4M ep:13K epch:28.54 loss:0.035 grdn:1.902 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:20:39 ot_train.py:423 step:321K smpl:4M ep:13K epch:28.56 loss:0.035 grdn:1.929 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:20:47 ot_train.py:423 step:321K smpl:4M ep:13K epch:28.57 loss:0.035 grdn:1.863 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:20:54 ot_train.py:423 step:321K smpl:4M ep:13K epch:28.59 loss:0.036 grdn:1.914 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:21:03 ot_train.py:423 step:322K smpl:4M ep:13K epch:28.61 loss:0.035 grdn:1.896 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:21:11 ot_train.py:423 step:322K smpl:4M ep:13K epch:28.63 loss:0.036 grdn:1.879 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:21:19 ot_train.py:423 step:322K smpl:4M ep:13K epch:28.65 loss:0.034 grdn:1.901 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:21:28 ot_train.py:423 step:322K smpl:4M ep:13K epch:28.66 loss:0.035 grdn:1.871 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:21:36 ot_train.py:423 step:322K smpl:4M ep:13K epch:28.68 loss:0.035 grdn:1.892 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:21:44 ot_train.py:423 step:323K smpl:4M ep:13K epch:28.70 loss:0.037 grdn:1.860 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:21:51 ot_train.py:423 step:323K smpl:4M ep:13K epch:28.72 loss:0.035 grdn:1.839 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:21:59 ot_train.py:423 step:323K smpl:4M ep:13K epch:28.73 loss:0.035 grdn:1.882 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:22:08 ot_train.py:423 step:323K smpl:4M ep:13K epch:28.75 loss:0.036 grdn:1.885 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:22:15 ot_train.py:423 step:323K smpl:4M ep:13K epch:28.77 loss:0.035 grdn:1.839 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:22:23 ot_train.py:423 step:324K smpl:4M ep:14K epch:28.79 loss:0.035 grdn:1.817 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:22:31 ot_train.py:423 step:324K smpl:4M ep:14K epch:28.81 loss:0.035 grdn:1.864 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:22:39 ot_train.py:423 step:324K smpl:4M ep:14K epch:28.82 loss:0.035 grdn:1.938 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:22:48 ot_train.py:423 step:324K smpl:4M ep:14K epch:28.84 loss:0.036 grdn:1.855 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:22:56 ot_train.py:423 step:324K smpl:4M ep:14K epch:28.86 loss:0.036 grdn:1.893 lr:1.0e-05 updt_s:0.036 data_s:0.004
INFO 2026-03-12 22:23:03 ot_train.py:423 step:325K smpl:4M ep:14K epch:28.88 loss:0.035 grdn:1.848 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:23:12 ot_train.py:423 step:325K smpl:4M ep:14K epch:28.89 loss:0.036 grdn:1.961 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:23:19 ot_train.py:423 step:325K smpl:4M ep:14K epch:28.91 loss:0.035 grdn:1.885 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:23:28 ot_train.py:423 step:325K smpl:4M ep:14K epch:28.93 loss:0.035 grdn:1.870 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:23:36 ot_train.py:423 step:325K smpl:4M ep:14K epch:28.95 loss:0.035 grdn:1.945 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:23:44 ot_train.py:423 step:326K smpl:4M ep:14K epch:28.97 loss:0.037 grdn:1.921 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:23:52 ot_train.py:423 step:326K smpl:4M ep:14K epch:28.98 loss:0.036 grdn:1.875 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:24:04 ot_train.py:423 step:326K smpl:4M ep:14K epch:29.00 loss:0.035 grdn:1.931 lr:1.0e-05 updt_s:0.036 data_s:0.025
INFO 2026-03-12 22:24:38 ot_train.py:423 step:326K smpl:4M ep:14K epch:29.02 loss:0.035 grdn:1.952 lr:1.0e-05 updt_s:0.037 data_s:0.130
INFO 2026-03-12 22:24:58 ot_train.py:423 step:326K smpl:4M ep:14K epch:29.04 loss:0.035 grdn:1.900 lr:1.0e-05 updt_s:0.037 data_s:0.062
INFO 2026-03-12 22:25:13 ot_train.py:423 step:327K smpl:4M ep:14K epch:29.05 loss:0.035 grdn:1.804 lr:1.0e-05 updt_s:0.037 data_s:0.038
INFO 2026-03-12 22:25:23 ot_train.py:423 step:327K smpl:4M ep:14K epch:29.07 loss:0.035 grdn:1.850 lr:1.0e-05 updt_s:0.038 data_s:0.015
INFO 2026-03-12 22:25:33 ot_train.py:423 step:327K smpl:4M ep:14K epch:29.09 loss:0.035 grdn:1.842 lr:1.0e-05 updt_s:0.038 data_s:0.009
INFO 2026-03-12 22:25:41 ot_train.py:423 step:327K smpl:4M ep:14K epch:29.11 loss:0.035 grdn:1.924 lr:1.0e-05 updt_s:0.036 data_s:0.007
INFO 2026-03-12 22:25:49 ot_train.py:423 step:327K smpl:4M ep:14K epch:29.13 loss:0.035 grdn:1.896 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:25:58 ot_train.py:423 step:328K smpl:4M ep:14K epch:29.14 loss:0.035 grdn:1.901 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:26:06 ot_train.py:423 step:328K smpl:4M ep:14K epch:29.16 loss:0.035 grdn:1.874 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 22:26:14 ot_train.py:423 step:328K smpl:4M ep:14K epch:29.18 loss:0.035 grdn:1.868 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:26:22 ot_train.py:423 step:328K smpl:4M ep:14K epch:29.20 loss:0.036 grdn:1.926 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:26:30 ot_train.py:423 step:328K smpl:4M ep:14K epch:29.21 loss:0.036 grdn:1.965 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:26:39 ot_train.py:423 step:329K smpl:4M ep:14K epch:29.23 loss:0.036 grdn:1.947 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:26:47 ot_train.py:423 step:329K smpl:4M ep:14K epch:29.25 loss:0.035 grdn:1.883 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:26:55 ot_train.py:423 step:329K smpl:4M ep:14K epch:29.27 loss:0.034 grdn:1.853 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:27:03 ot_train.py:423 step:329K smpl:4M ep:14K epch:29.29 loss:0.035 grdn:1.848 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:27:12 ot_train.py:423 step:329K smpl:4M ep:14K epch:29.30 loss:0.034 grdn:1.862 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:27:20 ot_train.py:423 step:330K smpl:4M ep:14K epch:29.32 loss:0.035 grdn:1.874 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:27:28 ot_train.py:423 step:330K smpl:4M ep:14K epch:29.34 loss:0.035 grdn:1.824 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:27:36 ot_train.py:423 step:330K smpl:4M ep:14K epch:29.36 loss:0.035 grdn:1.866 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:27:36 ot_train.py:443 Checkpoint policy after step 330000
[Avatar] Pushing checkpoint (step 330000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 22:27:42 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 330000) OK
[Avatar] Tagged as 'step-330000'
INFO 2026-03-12 22:27:53 ot_train.py:423 step:330K smpl:4M ep:14K epch:29.38 loss:0.035 grdn:1.942 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:28:01 ot_train.py:423 step:330K smpl:4M ep:14K epch:29.39 loss:0.035 grdn:1.921 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:28:09 ot_train.py:423 step:331K smpl:4M ep:14K epch:29.41 loss:0.035 grdn:1.897 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:28:17 ot_train.py:423 step:331K smpl:4M ep:14K epch:29.43 loss:0.035 grdn:1.902 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:28:26 ot_train.py:423 step:331K smpl:4M ep:14K epch:29.45 loss:0.036 grdn:1.807 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:28:34 ot_train.py:423 step:331K smpl:4M ep:14K epch:29.46 loss:0.035 grdn:1.890 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:28:43 ot_train.py:423 step:331K smpl:4M ep:14K epch:29.48 loss:0.035 grdn:1.880 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:28:51 ot_train.py:423 step:332K smpl:4M ep:14K epch:29.50 loss:0.035 grdn:1.868 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:28:59 ot_train.py:423 step:332K smpl:4M ep:14K epch:29.52 loss:0.036 grdn:1.832 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:29:08 ot_train.py:423 step:332K smpl:4M ep:14K epch:29.54 loss:0.035 grdn:1.851 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:29:16 ot_train.py:423 step:332K smpl:4M ep:14K epch:29.55 loss:0.035 grdn:1.897 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:29:24 ot_train.py:423 step:332K smpl:4M ep:14K epch:29.57 loss:0.035 grdn:1.834 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:29:33 ot_train.py:423 step:333K smpl:4M ep:14K epch:29.59 loss:0.035 grdn:1.856 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:29:41 ot_train.py:423 step:333K smpl:4M ep:14K epch:29.61 loss:0.034 grdn:1.828 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:29:49 ot_train.py:423 step:333K smpl:4M ep:14K epch:29.62 loss:0.036 grdn:1.896 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:29:57 ot_train.py:423 step:333K smpl:4M ep:14K epch:29.64 loss:0.035 grdn:1.830 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:30:06 ot_train.py:423 step:333K smpl:4M ep:14K epch:29.66 loss:0.035 grdn:1.932 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:30:14 ot_train.py:423 step:334K smpl:4M ep:14K epch:29.68 loss:0.035 grdn:1.876 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:30:22 ot_train.py:423 step:334K smpl:4M ep:14K epch:29.70 loss:0.035 grdn:1.872 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:30:29 ot_train.py:423 step:334K smpl:4M ep:14K epch:29.71 loss:0.035 grdn:1.849 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:30:37 ot_train.py:423 step:334K smpl:4M ep:14K epch:29.73 loss:0.034 grdn:1.845 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:30:45 ot_train.py:423 step:334K smpl:4M ep:14K epch:29.75 loss:0.035 grdn:1.833 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:30:54 ot_train.py:423 step:335K smpl:4M ep:14K epch:29.77 loss:0.035 grdn:1.810 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:31:02 ot_train.py:423 step:335K smpl:4M ep:14K epch:29.78 loss:0.035 grdn:1.889 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:31:10 ot_train.py:423 step:335K smpl:4M ep:14K epch:29.80 loss:0.035 grdn:1.821 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:31:18 ot_train.py:423 step:335K smpl:4M ep:14K epch:29.82 loss:0.035 grdn:1.853 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:31:26 ot_train.py:423 step:335K smpl:4M ep:14K epch:29.84 loss:0.035 grdn:1.893 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:31:34 ot_train.py:423 step:336K smpl:4M ep:14K epch:29.86 loss:0.035 grdn:1.927 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:31:42 ot_train.py:423 step:336K smpl:4M ep:14K epch:29.87 loss:0.035 grdn:1.896 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:31:50 ot_train.py:423 step:336K smpl:4M ep:14K epch:29.89 loss:0.034 grdn:1.788 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:31:58 ot_train.py:423 step:336K smpl:4M ep:14K epch:29.91 loss:0.035 grdn:1.809 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:32:06 ot_train.py:423 step:336K smpl:4M ep:14K epch:29.93 loss:0.035 grdn:1.928 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:32:14 ot_train.py:423 step:337K smpl:4M ep:14K epch:29.94 loss:0.035 grdn:1.876 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:32:22 ot_train.py:423 step:337K smpl:4M ep:14K epch:29.96 loss:0.035 grdn:1.898 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:32:30 ot_train.py:423 step:337K smpl:4M ep:14K epch:29.98 loss:0.034 grdn:1.834 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:32:38 ot_train.py:423 step:337K smpl:4M ep:14K epch:30.00 loss:0.035 grdn:1.851 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:33:13 ot_train.py:423 step:337K smpl:4M ep:14K epch:30.02 loss:0.035 grdn:1.885 lr:1.0e-05 updt_s:0.037 data_s:0.137
INFO 2026-03-12 22:33:37 ot_train.py:423 step:338K smpl:4M ep:14K epch:30.03 loss:0.036 grdn:1.868 lr:1.0e-05 updt_s:0.038 data_s:0.082
INFO 2026-03-12 22:33:52 ot_train.py:423 step:338K smpl:4M ep:14K epch:30.05 loss:0.035 grdn:1.912 lr:1.0e-05 updt_s:0.037 data_s:0.036
INFO 2026-03-12 22:34:03 ot_train.py:423 step:338K smpl:4M ep:14K epch:30.07 loss:0.035 grdn:1.839 lr:1.0e-05 updt_s:0.038 data_s:0.019
INFO 2026-03-12 22:34:13 ot_train.py:423 step:338K smpl:4M ep:14K epch:30.09 loss:0.035 grdn:1.867 lr:1.0e-05 updt_s:0.037 data_s:0.011
INFO 2026-03-12 22:34:22 ot_train.py:423 step:338K smpl:4M ep:14K epch:30.10 loss:0.035 grdn:1.878 lr:1.0e-05 updt_s:0.037 data_s:0.008
INFO 2026-03-12 22:34:30 ot_train.py:423 step:339K smpl:4M ep:14K epch:30.12 loss:0.035 grdn:1.892 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:34:39 ot_train.py:423 step:339K smpl:4M ep:14K epch:30.14 loss:0.035 grdn:1.864 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 22:34:47 ot_train.py:423 step:339K smpl:4M ep:14K epch:30.16 loss:0.034 grdn:1.793 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:34:55 ot_train.py:423 step:339K smpl:4M ep:14K epch:30.18 loss:0.035 grdn:1.891 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:35:03 ot_train.py:423 step:339K smpl:4M ep:14K epch:30.19 loss:0.035 grdn:1.785 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:35:12 ot_train.py:423 step:340K smpl:4M ep:14K epch:30.21 loss:0.034 grdn:1.854 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:35:21 ot_train.py:423 step:340K smpl:4M ep:14K epch:30.23 loss:0.035 grdn:1.863 lr:1.0e-05 updt_s:0.039 data_s:0.004
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INFO 2026-03-12 22:35:29 ot_train.py:443 Checkpoint policy after step 340000
[Avatar] Pushing checkpoint (step 340000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 22:35:35 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 340000) OK
[Avatar] Tagged as 'step-340000'
INFO 2026-03-12 22:35:44 ot_train.py:423 step:340K smpl:4M ep:14K epch:30.26 loss:0.035 grdn:1.939 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:35:52 ot_train.py:423 step:340K smpl:4M ep:14K epch:30.28 loss:0.035 grdn:1.884 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:36:01 ot_train.py:423 step:341K smpl:4M ep:14K epch:30.30 loss:0.035 grdn:1.856 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:36:09 ot_train.py:423 step:341K smpl:4M ep:14K epch:30.32 loss:0.034 grdn:1.856 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:36:18 ot_train.py:423 step:341K smpl:4M ep:14K epch:30.34 loss:0.034 grdn:1.867 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:36:26 ot_train.py:423 step:341K smpl:4M ep:14K epch:30.35 loss:0.036 grdn:1.863 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:36:34 ot_train.py:423 step:341K smpl:4M ep:14K epch:30.37 loss:0.034 grdn:1.865 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:36:43 ot_train.py:423 step:342K smpl:4M ep:14K epch:30.39 loss:0.034 grdn:1.838 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:36:51 ot_train.py:423 step:342K smpl:4M ep:14K epch:30.41 loss:0.035 grdn:1.847 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:37:00 ot_train.py:423 step:342K smpl:4M ep:14K epch:30.42 loss:0.035 grdn:1.827 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:37:08 ot_train.py:423 step:342K smpl:4M ep:14K epch:30.44 loss:0.034 grdn:1.807 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:37:16 ot_train.py:423 step:342K smpl:4M ep:14K epch:30.46 loss:0.035 grdn:1.861 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:37:25 ot_train.py:423 step:343K smpl:4M ep:14K epch:30.48 loss:0.034 grdn:1.879 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:37:33 ot_train.py:423 step:343K smpl:4M ep:14K epch:30.50 loss:0.035 grdn:1.836 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:37:41 ot_train.py:423 step:343K smpl:4M ep:14K epch:30.51 loss:0.035 grdn:1.870 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:37:49 ot_train.py:423 step:343K smpl:4M ep:14K epch:30.53 loss:0.035 grdn:1.898 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:37:58 ot_train.py:423 step:343K smpl:4M ep:14K epch:30.55 loss:0.035 grdn:1.863 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:38:06 ot_train.py:423 step:344K smpl:4M ep:14K epch:30.57 loss:0.035 grdn:1.900 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:38:14 ot_train.py:423 step:344K smpl:4M ep:14K epch:30.58 loss:0.035 grdn:1.847 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:38:22 ot_train.py:423 step:344K smpl:4M ep:14K epch:30.60 loss:0.034 grdn:1.873 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:38:30 ot_train.py:423 step:344K smpl:4M ep:14K epch:30.62 loss:0.034 grdn:1.830 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:38:38 ot_train.py:423 step:344K smpl:4M ep:14K epch:30.64 loss:0.034 grdn:1.937 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:38:46 ot_train.py:423 step:345K smpl:4M ep:14K epch:30.66 loss:0.034 grdn:1.802 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:38:54 ot_train.py:423 step:345K smpl:4M ep:14K epch:30.67 loss:0.034 grdn:1.883 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:39:03 ot_train.py:423 step:345K smpl:4M ep:14K epch:30.69 loss:0.035 grdn:1.832 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:39:11 ot_train.py:423 step:345K smpl:4M ep:14K epch:30.71 loss:0.035 grdn:1.824 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:39:19 ot_train.py:423 step:345K smpl:4M ep:14K epch:30.73 loss:0.034 grdn:1.876 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:39:28 ot_train.py:423 step:346K smpl:4M ep:14K epch:30.75 loss:0.035 grdn:1.861 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:39:36 ot_train.py:423 step:346K smpl:4M ep:14K epch:30.76 loss:0.034 grdn:1.845 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:39:44 ot_train.py:423 step:346K smpl:4M ep:14K epch:30.78 loss:0.034 grdn:1.886 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:39:53 ot_train.py:423 step:346K smpl:4M ep:14K epch:30.80 loss:0.034 grdn:1.848 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:40:01 ot_train.py:423 step:346K smpl:4M ep:14K epch:30.82 loss:0.035 grdn:1.901 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:40:08 ot_train.py:423 step:347K smpl:4M ep:14K epch:30.83 loss:0.035 grdn:1.871 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:40:16 ot_train.py:423 step:347K smpl:4M ep:14K epch:30.85 loss:0.034 grdn:1.843 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:40:24 ot_train.py:423 step:347K smpl:4M ep:14K epch:30.87 loss:0.035 grdn:1.847 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:40:33 ot_train.py:423 step:347K smpl:4M ep:14K epch:30.89 loss:0.035 grdn:1.809 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:40:40 ot_train.py:423 step:347K smpl:4M ep:14K epch:30.91 loss:0.035 grdn:1.893 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:40:48 ot_train.py:423 step:348K smpl:4M ep:15K epch:30.92 loss:0.033 grdn:1.846 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:40:56 ot_train.py:423 step:348K smpl:4M ep:15K epch:30.94 loss:0.034 grdn:1.847 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:41:04 ot_train.py:423 step:348K smpl:4M ep:15K epch:30.96 loss:0.035 grdn:1.908 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:41:13 ot_train.py:423 step:348K smpl:4M ep:15K epch:30.98 loss:0.034 grdn:1.883 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:41:21 ot_train.py:423 step:348K smpl:4M ep:15K epch:30.99 loss:0.034 grdn:1.832 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:41:51 ot_train.py:423 step:349K smpl:4M ep:15K epch:31.01 loss:0.035 grdn:1.877 lr:1.0e-05 updt_s:0.037 data_s:0.116
INFO 2026-03-12 22:42:17 ot_train.py:423 step:349K smpl:4M ep:15K epch:31.03 loss:0.034 grdn:1.916 lr:1.0e-05 updt_s:0.037 data_s:0.094
INFO 2026-03-12 22:42:35 ot_train.py:423 step:349K smpl:4M ep:15K epch:31.05 loss:0.034 grdn:1.787 lr:1.0e-05 updt_s:0.038 data_s:0.049
INFO 2026-03-12 22:42:47 ot_train.py:423 step:349K smpl:4M ep:15K epch:31.07 loss:0.034 grdn:1.844 lr:1.0e-05 updt_s:0.037 data_s:0.024
INFO 2026-03-12 22:42:57 ot_train.py:423 step:349K smpl:4M ep:15K epch:31.08 loss:0.034 grdn:1.910 lr:1.0e-05 updt_s:0.037 data_s:0.012
INFO 2026-03-12 22:43:06 ot_train.py:423 step:350K smpl:4M ep:15K epch:31.10 loss:0.034 grdn:1.907 lr:1.0e-05 updt_s:0.037 data_s:0.009
INFO 2026-03-12 22:43:14 ot_train.py:423 step:350K smpl:4M ep:15K epch:31.12 loss:0.034 grdn:1.814 lr:1.0e-05 updt_s:0.037 data_s:0.004
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INFO 2026-03-12 22:43:22 ot_train.py:443 Checkpoint policy after step 350000
[Avatar] Pushing checkpoint (step 350000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 22:43:28 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 350000) OK
[Avatar] Tagged as 'step-350000'
INFO 2026-03-12 22:43:39 ot_train.py:423 step:350K smpl:4M ep:15K epch:31.15 loss:0.034 grdn:1.873 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:43:47 ot_train.py:423 step:350K smpl:4M ep:15K epch:31.17 loss:0.034 grdn:1.835 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:43:55 ot_train.py:423 step:351K smpl:4M ep:15K epch:31.19 loss:0.035 grdn:1.878 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:44:03 ot_train.py:423 step:351K smpl:4M ep:15K epch:31.21 loss:0.035 grdn:1.884 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:44:11 ot_train.py:423 step:351K smpl:4M ep:15K epch:31.23 loss:0.035 grdn:1.871 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:44:20 ot_train.py:423 step:351K smpl:4M ep:15K epch:31.24 loss:0.035 grdn:1.867 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:44:28 ot_train.py:423 step:351K smpl:4M ep:15K epch:31.26 loss:0.034 grdn:1.804 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:44:36 ot_train.py:423 step:352K smpl:4M ep:15K epch:31.28 loss:0.034 grdn:1.872 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:44:44 ot_train.py:423 step:352K smpl:4M ep:15K epch:31.30 loss:0.034 grdn:1.836 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:44:53 ot_train.py:423 step:352K smpl:4M ep:15K epch:31.31 loss:0.034 grdn:1.843 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:45:01 ot_train.py:423 step:352K smpl:4M ep:15K epch:31.33 loss:0.034 grdn:1.842 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:45:09 ot_train.py:423 step:352K smpl:4M ep:15K epch:31.35 loss:0.034 grdn:1.879 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:45:17 ot_train.py:423 step:353K smpl:4M ep:15K epch:31.37 loss:0.035 grdn:1.924 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:45:25 ot_train.py:423 step:353K smpl:4M ep:15K epch:31.39 loss:0.034 grdn:1.826 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:45:33 ot_train.py:423 step:353K smpl:4M ep:15K epch:31.40 loss:0.034 grdn:1.862 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:45:42 ot_train.py:423 step:353K smpl:4M ep:15K epch:31.42 loss:0.034 grdn:1.852 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:45:49 ot_train.py:423 step:353K smpl:4M ep:15K epch:31.44 loss:0.035 grdn:1.849 lr:1.0e-05 updt_s:0.036 data_s:0.003
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INFO 2026-03-12 22:46:13 ot_train.py:423 step:354K smpl:4M ep:15K epch:31.49 loss:0.034 grdn:1.908 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:46:21 ot_train.py:423 step:354K smpl:4M ep:15K epch:31.51 loss:0.034 grdn:1.864 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:46:30 ot_train.py:423 step:354K smpl:4M ep:15K epch:31.53 loss:0.035 grdn:1.828 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:46:37 ot_train.py:423 step:355K smpl:4M ep:15K epch:31.55 loss:0.034 grdn:1.814 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:46:46 ot_train.py:423 step:355K smpl:4M ep:15K epch:31.56 loss:0.036 grdn:1.841 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 22:46:54 ot_train.py:423 step:355K smpl:4M ep:15K epch:31.58 loss:0.034 grdn:1.863 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:47:02 ot_train.py:423 step:355K smpl:4M ep:15K epch:31.60 loss:0.034 grdn:1.880 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:47:10 ot_train.py:423 step:355K smpl:4M ep:15K epch:31.62 loss:0.035 grdn:1.891 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:47:18 ot_train.py:423 step:356K smpl:4M ep:15K epch:31.63 loss:0.034 grdn:1.869 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:47:26 ot_train.py:423 step:356K smpl:4M ep:15K epch:31.65 loss:0.034 grdn:1.857 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:47:35 ot_train.py:423 step:356K smpl:4M ep:15K epch:31.67 loss:0.035 grdn:1.883 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:47:43 ot_train.py:423 step:356K smpl:4M ep:15K epch:31.69 loss:0.033 grdn:1.839 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:47:51 ot_train.py:423 step:356K smpl:4M ep:15K epch:31.71 loss:0.033 grdn:1.877 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:47:59 ot_train.py:423 step:357K smpl:4M ep:15K epch:31.72 loss:0.033 grdn:1.872 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:48:07 ot_train.py:423 step:357K smpl:4M ep:15K epch:31.74 loss:0.034 grdn:1.816 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:48:16 ot_train.py:423 step:357K smpl:4M ep:15K epch:31.76 loss:0.034 grdn:1.813 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:48:24 ot_train.py:423 step:357K smpl:4M ep:15K epch:31.78 loss:0.034 grdn:1.856 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:48:33 ot_train.py:423 step:357K smpl:4M ep:15K epch:31.79 loss:0.034 grdn:1.834 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 22:48:41 ot_train.py:423 step:358K smpl:4M ep:15K epch:31.81 loss:0.034 grdn:1.927 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:48:49 ot_train.py:423 step:358K smpl:4M ep:15K epch:31.83 loss:0.034 grdn:1.868 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:48:57 ot_train.py:423 step:358K smpl:4M ep:15K epch:31.85 loss:0.034 grdn:1.870 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:49:05 ot_train.py:423 step:358K smpl:4M ep:15K epch:31.87 loss:0.034 grdn:1.879 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:49:13 ot_train.py:423 step:358K smpl:4M ep:15K epch:31.88 loss:0.034 grdn:1.879 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:49:21 ot_train.py:423 step:359K smpl:4M ep:15K epch:31.90 loss:0.034 grdn:1.815 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:49:29 ot_train.py:423 step:359K smpl:4M ep:15K epch:31.92 loss:0.034 grdn:1.906 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:49:37 ot_train.py:423 step:359K smpl:4M ep:15K epch:31.94 loss:0.034 grdn:1.833 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:49:46 ot_train.py:423 step:359K smpl:4M ep:15K epch:31.95 loss:0.034 grdn:1.780 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:49:54 ot_train.py:423 step:359K smpl:4M ep:15K epch:31.97 loss:0.034 grdn:1.889 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:50:02 ot_train.py:423 step:360K smpl:4M ep:15K epch:31.99 loss:0.034 grdn:1.884 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:50:27 ot_train.py:423 step:360K smpl:4M ep:15K epch:32.01 loss:0.034 grdn:1.855 lr:1.0e-05 updt_s:0.037 data_s:0.086
INFO 2026-03-12 22:50:56 ot_train.py:423 step:360K smpl:4M ep:15K epch:32.03 loss:0.034 grdn:1.798 lr:1.0e-05 updt_s:0.038 data_s:0.107
INFO 2026-03-12 22:50:56 ot_train.py:443 Checkpoint policy after step 360000
[Avatar] Pushing checkpoint (step 360000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 22:51:01 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 360000) OK
[Avatar] Tagged as 'step-360000'
INFO 2026-03-12 22:51:19 ot_train.py:423 step:360K smpl:4M ep:15K epch:32.04 loss:0.033 grdn:1.887 lr:1.0e-05 updt_s:0.037 data_s:0.041
INFO 2026-03-12 22:51:32 ot_train.py:423 step:360K smpl:4M ep:15K epch:32.06 loss:0.035 grdn:1.838 lr:1.0e-05 updt_s:0.038 data_s:0.027
INFO 2026-03-12 22:51:42 ot_train.py:423 step:361K smpl:4M ep:15K epch:32.08 loss:0.034 grdn:1.825 lr:1.0e-05 updt_s:0.038 data_s:0.013
INFO 2026-03-12 22:51:51 ot_train.py:423 step:361K smpl:4M ep:15K epch:32.10 loss:0.033 grdn:1.807 lr:1.0e-05 updt_s:0.037 data_s:0.010
INFO 2026-03-12 22:52:00 ot_train.py:423 step:361K smpl:4M ep:15K epch:32.12 loss:0.034 grdn:1.826 lr:1.0e-05 updt_s:0.037 data_s:0.008
INFO 2026-03-12 22:52:08 ot_train.py:423 step:361K smpl:4M ep:15K epch:32.13 loss:0.033 grdn:1.761 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:52:17 ot_train.py:423 step:361K smpl:4M ep:15K epch:32.15 loss:0.033 grdn:1.882 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:52:25 ot_train.py:423 step:362K smpl:4M ep:15K epch:32.17 loss:0.035 grdn:1.852 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:52:34 ot_train.py:423 step:362K smpl:4M ep:15K epch:32.19 loss:0.034 grdn:1.816 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:52:42 ot_train.py:423 step:362K smpl:4M ep:15K epch:32.20 loss:0.034 grdn:1.842 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:52:51 ot_train.py:423 step:362K smpl:4M ep:15K epch:32.22 loss:0.034 grdn:1.855 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:52:59 ot_train.py:423 step:362K smpl:4M ep:15K epch:32.24 loss:0.034 grdn:1.880 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:53:08 ot_train.py:423 step:363K smpl:4M ep:15K epch:32.26 loss:0.034 grdn:1.817 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 22:53:16 ot_train.py:423 step:363K smpl:4M ep:15K epch:32.28 loss:0.033 grdn:1.804 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:53:24 ot_train.py:423 step:363K smpl:4M ep:15K epch:32.29 loss:0.033 grdn:1.804 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:53:32 ot_train.py:423 step:363K smpl:4M ep:15K epch:32.31 loss:0.033 grdn:1.852 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:53:41 ot_train.py:423 step:363K smpl:4M ep:15K epch:32.33 loss:0.034 grdn:1.854 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:53:49 ot_train.py:423 step:364K smpl:4M ep:15K epch:32.35 loss:0.034 grdn:1.828 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:53:57 ot_train.py:423 step:364K smpl:4M ep:15K epch:32.36 loss:0.034 grdn:1.808 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:54:05 ot_train.py:423 step:364K smpl:4M ep:15K epch:32.38 loss:0.034 grdn:1.845 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:54:13 ot_train.py:423 step:364K smpl:4M ep:15K epch:32.40 loss:0.034 grdn:1.885 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:54:21 ot_train.py:423 step:364K smpl:4M ep:15K epch:32.42 loss:0.035 grdn:1.936 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:54:29 ot_train.py:423 step:365K smpl:4M ep:15K epch:32.44 loss:0.034 grdn:1.879 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:54:37 ot_train.py:423 step:365K smpl:4M ep:15K epch:32.45 loss:0.034 grdn:1.824 lr:1.0e-05 updt_s:0.036 data_s:0.004
INFO 2026-03-12 22:54:46 ot_train.py:423 step:365K smpl:4M ep:15K epch:32.47 loss:0.034 grdn:1.899 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:54:54 ot_train.py:423 step:365K smpl:4M ep:15K epch:32.49 loss:0.034 grdn:1.817 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:55:02 ot_train.py:423 step:365K smpl:4M ep:15K epch:32.51 loss:0.034 grdn:1.865 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:55:10 ot_train.py:423 step:366K smpl:4M ep:15K epch:32.52 loss:0.034 grdn:1.790 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:55:18 ot_train.py:423 step:366K smpl:4M ep:15K epch:32.54 loss:0.034 grdn:1.798 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:55:27 ot_train.py:423 step:366K smpl:4M ep:15K epch:32.56 loss:0.033 grdn:1.795 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:55:35 ot_train.py:423 step:366K smpl:4M ep:15K epch:32.58 loss:0.033 grdn:1.813 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:55:44 ot_train.py:423 step:366K smpl:4M ep:15K epch:32.60 loss:0.033 grdn:1.809 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:55:52 ot_train.py:423 step:367K smpl:4M ep:15K epch:32.61 loss:0.035 grdn:1.852 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:56:00 ot_train.py:423 step:367K smpl:4M ep:15K epch:32.63 loss:0.034 grdn:1.854 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:56:08 ot_train.py:423 step:367K smpl:4M ep:15K epch:32.65 loss:0.033 grdn:1.802 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:56:17 ot_train.py:423 step:367K smpl:4M ep:15K epch:32.67 loss:0.034 grdn:1.872 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 22:56:24 ot_train.py:423 step:367K smpl:4M ep:15K epch:32.68 loss:0.034 grdn:1.833 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:56:33 ot_train.py:423 step:368K smpl:4M ep:15K epch:32.70 loss:0.034 grdn:1.825 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:56:41 ot_train.py:423 step:368K smpl:4M ep:15K epch:32.72 loss:0.035 grdn:1.868 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:56:49 ot_train.py:423 step:368K smpl:4M ep:15K epch:32.74 loss:0.034 grdn:1.871 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:56:58 ot_train.py:423 step:368K smpl:4M ep:15K epch:32.76 loss:0.033 grdn:1.788 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:57:06 ot_train.py:423 step:368K smpl:4M ep:15K epch:32.77 loss:0.034 grdn:1.819 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:57:13 ot_train.py:423 step:369K smpl:4M ep:15K epch:32.79 loss:0.034 grdn:1.822 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:57:22 ot_train.py:423 step:369K smpl:4M ep:15K epch:32.81 loss:0.034 grdn:1.805 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:57:30 ot_train.py:423 step:369K smpl:4M ep:15K epch:32.83 loss:0.033 grdn:1.796 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:57:38 ot_train.py:423 step:369K smpl:4M ep:15K epch:32.84 loss:0.033 grdn:1.806 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:57:46 ot_train.py:423 step:369K smpl:4M ep:15K epch:32.86 loss:0.033 grdn:1.799 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:57:54 ot_train.py:423 step:370K smpl:4M ep:15K epch:32.88 loss:0.033 grdn:1.807 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 22:58:02 ot_train.py:423 step:370K smpl:4M ep:15K epch:32.90 loss:0.035 grdn:1.775 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:58:10 ot_train.py:423 step:370K smpl:4M ep:15K epch:32.92 loss:0.033 grdn:1.770 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:58:10 ot_train.py:443 Checkpoint policy after step 370000
[Avatar] Pushing checkpoint (step 370000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 22:58:18 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 370000) OK
[Avatar] Tagged as 'step-370000'
INFO 2026-03-12 22:58:28 ot_train.py:423 step:370K smpl:4M ep:15K epch:32.93 loss:0.033 grdn:1.831 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:58:36 ot_train.py:423 step:370K smpl:4M ep:15K epch:32.95 loss:0.034 grdn:1.793 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 22:58:44 ot_train.py:423 step:371K smpl:4M ep:15K epch:32.97 loss:0.033 grdn:1.844 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 22:58:52 ot_train.py:423 step:371K smpl:4M ep:15K epch:32.99 loss:0.034 grdn:1.754 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 22:59:11 ot_train.py:423 step:371K smpl:4M ep:15K epch:33.00 loss:0.033 grdn:1.773 lr:1.0e-05 updt_s:0.037 data_s:0.056
INFO 2026-03-12 22:59:42 ot_train.py:423 step:371K smpl:4M ep:15K epch:33.02 loss:0.033 grdn:1.829 lr:1.0e-05 updt_s:0.037 data_s:0.118
INFO 2026-03-12 23:00:02 ot_train.py:423 step:371K smpl:4M ep:15K epch:33.04 loss:0.034 grdn:1.793 lr:1.0e-05 updt_s:0.038 data_s:0.065
INFO 2026-03-12 23:00:16 ot_train.py:423 step:372K smpl:4M ep:16K epch:33.06 loss:0.034 grdn:1.764 lr:1.0e-05 updt_s:0.037 data_s:0.031
INFO 2026-03-12 23:00:27 ot_train.py:423 step:372K smpl:4M ep:16K epch:33.08 loss:0.033 grdn:1.835 lr:1.0e-05 updt_s:0.037 data_s:0.019
INFO 2026-03-12 23:00:37 ot_train.py:423 step:372K smpl:4M ep:16K epch:33.09 loss:0.034 grdn:1.814 lr:1.0e-05 updt_s:0.037 data_s:0.011
INFO 2026-03-12 23:00:46 ot_train.py:423 step:372K smpl:4M ep:16K epch:33.11 loss:0.033 grdn:1.754 lr:1.0e-05 updt_s:0.037 data_s:0.005
INFO 2026-03-12 23:00:54 ot_train.py:423 step:372K smpl:4M ep:16K epch:33.13 loss:0.034 grdn:1.835 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:01:02 ot_train.py:423 step:373K smpl:4M ep:16K epch:33.15 loss:0.034 grdn:1.763 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:01:10 ot_train.py:423 step:373K smpl:4M ep:16K epch:33.16 loss:0.034 grdn:1.871 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:01:19 ot_train.py:423 step:373K smpl:4M ep:16K epch:33.18 loss:0.033 grdn:1.844 lr:1.0e-05 updt_s:0.038 data_s:0.009
INFO 2026-03-12 23:01:28 ot_train.py:423 step:373K smpl:4M ep:16K epch:33.20 loss:0.033 grdn:1.760 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:01:35 ot_train.py:423 step:373K smpl:4M ep:16K epch:33.22 loss:0.033 grdn:1.745 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:01:43 ot_train.py:423 step:374K smpl:4M ep:16K epch:33.24 loss:0.033 grdn:1.802 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:01:51 ot_train.py:423 step:374K smpl:4M ep:16K epch:33.25 loss:0.033 grdn:1.832 lr:1.0e-05 updt_s:0.036 data_s:0.004
INFO 2026-03-12 23:02:00 ot_train.py:423 step:374K smpl:4M ep:16K epch:33.27 loss:0.033 grdn:1.830 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 23:02:08 ot_train.py:423 step:374K smpl:4M ep:16K epch:33.29 loss:0.033 grdn:1.818 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:02:16 ot_train.py:423 step:374K smpl:4M ep:16K epch:33.31 loss:0.033 grdn:1.771 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:02:24 ot_train.py:423 step:375K smpl:4M ep:16K epch:33.32 loss:0.033 grdn:1.752 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:02:32 ot_train.py:423 step:375K smpl:4M ep:16K epch:33.34 loss:0.033 grdn:1.828 lr:1.0e-05 updt_s:0.036 data_s:0.004
INFO 2026-03-12 23:02:40 ot_train.py:423 step:375K smpl:4M ep:16K epch:33.36 loss:0.034 grdn:1.850 lr:1.0e-05 updt_s:0.036 data_s:0.005
INFO 2026-03-12 23:02:48 ot_train.py:423 step:375K smpl:5M ep:16K epch:33.38 loss:0.033 grdn:1.801 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:02:56 ot_train.py:423 step:375K smpl:5M ep:16K epch:33.40 loss:0.033 grdn:1.734 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:03:04 ot_train.py:423 step:376K smpl:5M ep:16K epch:33.41 loss:0.033 grdn:1.768 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:03:13 ot_train.py:423 step:376K smpl:5M ep:16K epch:33.43 loss:0.033 grdn:1.820 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:03:21 ot_train.py:423 step:376K smpl:5M ep:16K epch:33.45 loss:0.033 grdn:1.784 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:03:29 ot_train.py:423 step:376K smpl:5M ep:16K epch:33.47 loss:0.033 grdn:1.803 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:03:37 ot_train.py:423 step:376K smpl:5M ep:16K epch:33.49 loss:0.034 grdn:1.866 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:03:45 ot_train.py:423 step:377K smpl:5M ep:16K epch:33.50 loss:0.033 grdn:1.776 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:03:53 ot_train.py:423 step:377K smpl:5M ep:16K epch:33.52 loss:0.034 grdn:1.817 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:04:01 ot_train.py:423 step:377K smpl:5M ep:16K epch:33.54 loss:0.033 grdn:1.770 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:04:10 ot_train.py:423 step:377K smpl:5M ep:16K epch:33.56 loss:0.033 grdn:1.750 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:04:18 ot_train.py:423 step:377K smpl:5M ep:16K epch:33.57 loss:0.034 grdn:1.845 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:04:27 ot_train.py:423 step:378K smpl:5M ep:16K epch:33.59 loss:0.033 grdn:1.807 lr:1.0e-05 updt_s:0.039 data_s:0.006
INFO 2026-03-12 23:04:35 ot_train.py:423 step:378K smpl:5M ep:16K epch:33.61 loss:0.033 grdn:1.771 lr:1.0e-05 updt_s:0.038 data_s:0.005
INFO 2026-03-12 23:04:43 ot_train.py:423 step:378K smpl:5M ep:16K epch:33.63 loss:0.034 grdn:1.777 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 23:04:52 ot_train.py:423 step:378K smpl:5M ep:16K epch:33.65 loss:0.033 grdn:1.791 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:05:00 ot_train.py:423 step:378K smpl:5M ep:16K epch:33.66 loss:0.033 grdn:1.756 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:05:09 ot_train.py:423 step:379K smpl:5M ep:16K epch:33.68 loss:0.033 grdn:1.809 lr:1.0e-05 updt_s:0.039 data_s:0.006
INFO 2026-03-12 23:05:18 ot_train.py:423 step:379K smpl:5M ep:16K epch:33.70 loss:0.033 grdn:1.797 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:05:26 ot_train.py:423 step:379K smpl:5M ep:16K epch:33.72 loss:0.033 grdn:1.728 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:05:34 ot_train.py:423 step:379K smpl:5M ep:16K epch:33.73 loss:0.033 grdn:1.813 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:05:43 ot_train.py:423 step:379K smpl:5M ep:16K epch:33.75 loss:0.033 grdn:1.811 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:05:51 ot_train.py:423 step:380K smpl:5M ep:16K epch:33.77 loss:0.033 grdn:1.780 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:05:59 ot_train.py:423 step:380K smpl:5M ep:16K epch:33.79 loss:0.033 grdn:1.785 lr:1.0e-05 updt_s:0.036 data_s:0.004
INFO 2026-03-12 23:06:07 ot_train.py:423 step:380K smpl:5M ep:16K epch:33.81 loss:0.033 grdn:1.782 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:06:07 ot_train.py:443 Checkpoint policy after step 380000
[Avatar] Pushing checkpoint (step 380000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 23:06:12 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 380000) OK
[Avatar] Tagged as 'step-380000'
INFO 2026-03-12 23:06:22 ot_train.py:423 step:380K smpl:5M ep:16K epch:33.82 loss:0.033 grdn:1.784 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:06:30 ot_train.py:423 step:380K smpl:5M ep:16K epch:33.84 loss:0.033 grdn:1.756 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:06:38 ot_train.py:423 step:381K smpl:5M ep:16K epch:33.86 loss:0.033 grdn:1.745 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:06:46 ot_train.py:423 step:381K smpl:5M ep:16K epch:33.88 loss:0.033 grdn:1.737 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:06:55 ot_train.py:423 step:381K smpl:5M ep:16K epch:33.89 loss:0.034 grdn:1.805 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:07:03 ot_train.py:423 step:381K smpl:5M ep:16K epch:33.91 loss:0.033 grdn:1.777 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:07:11 ot_train.py:423 step:381K smpl:5M ep:16K epch:33.93 loss:0.033 grdn:1.767 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:07:19 ot_train.py:423 step:382K smpl:5M ep:16K epch:33.95 loss:0.033 grdn:1.768 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:07:27 ot_train.py:423 step:382K smpl:5M ep:16K epch:33.97 loss:0.034 grdn:1.810 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:07:35 ot_train.py:423 step:382K smpl:5M ep:16K epch:33.98 loss:0.033 grdn:1.826 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 23:07:47 ot_train.py:423 step:382K smpl:5M ep:16K epch:34.00 loss:0.033 grdn:1.792 lr:1.0e-05 updt_s:0.038 data_s:0.022
INFO 2026-03-12 23:08:21 ot_train.py:423 step:382K smpl:5M ep:16K epch:34.02 loss:0.033 grdn:1.771 lr:1.0e-05 updt_s:0.038 data_s:0.133
INFO 2026-03-12 23:08:41 ot_train.py:423 step:383K smpl:5M ep:16K epch:34.04 loss:0.033 grdn:1.818 lr:1.0e-05 updt_s:0.037 data_s:0.063
INFO 2026-03-12 23:08:57 ot_train.py:423 step:383K smpl:5M ep:16K epch:34.05 loss:0.033 grdn:1.800 lr:1.0e-05 updt_s:0.037 data_s:0.039
INFO 2026-03-12 23:09:08 ot_train.py:423 step:383K smpl:5M ep:16K epch:34.07 loss:0.033 grdn:1.819 lr:1.0e-05 updt_s:0.038 data_s:0.017
INFO 2026-03-12 23:09:17 ot_train.py:423 step:383K smpl:5M ep:16K epch:34.09 loss:0.033 grdn:1.807 lr:1.0e-05 updt_s:0.037 data_s:0.008
INFO 2026-03-12 23:09:25 ot_train.py:423 step:383K smpl:5M ep:16K epch:34.11 loss:0.033 grdn:1.697 lr:1.0e-05 updt_s:0.037 data_s:0.006
INFO 2026-03-12 23:09:34 ot_train.py:423 step:384K smpl:5M ep:16K epch:34.13 loss:0.033 grdn:1.772 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:09:42 ot_train.py:423 step:384K smpl:5M ep:16K epch:34.14 loss:0.033 grdn:1.752 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:09:51 ot_train.py:423 step:384K smpl:5M ep:16K epch:34.16 loss:0.033 grdn:1.754 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 23:09:59 ot_train.py:423 step:384K smpl:5M ep:16K epch:34.18 loss:0.032 grdn:1.771 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:10:07 ot_train.py:423 step:384K smpl:5M ep:16K epch:34.20 loss:0.033 grdn:1.808 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:10:14 ot_train.py:423 step:385K smpl:5M ep:16K epch:34.21 loss:0.033 grdn:1.778 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:10:22 ot_train.py:423 step:385K smpl:5M ep:16K epch:34.23 loss:0.033 grdn:1.768 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:10:31 ot_train.py:423 step:385K smpl:5M ep:16K epch:34.25 loss:0.033 grdn:1.777 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:10:39 ot_train.py:423 step:385K smpl:5M ep:16K epch:34.27 loss:0.033 grdn:1.755 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:10:47 ot_train.py:423 step:385K smpl:5M ep:16K epch:34.29 loss:0.033 grdn:1.784 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:10:54 ot_train.py:423 step:386K smpl:5M ep:16K epch:34.30 loss:0.033 grdn:1.755 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:11:03 ot_train.py:423 step:386K smpl:5M ep:16K epch:34.32 loss:0.033 grdn:1.720 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:11:11 ot_train.py:423 step:386K smpl:5M ep:16K epch:34.34 loss:0.033 grdn:1.721 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:11:19 ot_train.py:423 step:386K smpl:5M ep:16K epch:34.36 loss:0.033 grdn:1.699 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:11:27 ot_train.py:423 step:386K smpl:5M ep:16K epch:34.37 loss:0.033 grdn:1.757 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:11:35 ot_train.py:423 step:387K smpl:5M ep:16K epch:34.39 loss:0.034 grdn:1.816 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:11:43 ot_train.py:423 step:387K smpl:5M ep:16K epch:34.41 loss:0.033 grdn:1.741 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:11:51 ot_train.py:423 step:387K smpl:5M ep:16K epch:34.43 loss:0.033 grdn:1.714 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:11:59 ot_train.py:423 step:387K smpl:5M ep:16K epch:34.45 loss:0.032 grdn:1.663 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:12:08 ot_train.py:423 step:387K smpl:5M ep:16K epch:34.46 loss:0.032 grdn:1.716 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:12:16 ot_train.py:423 step:388K smpl:5M ep:16K epch:34.48 loss:0.033 grdn:1.780 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:12:24 ot_train.py:423 step:388K smpl:5M ep:16K epch:34.50 loss:0.032 grdn:1.781 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:12:33 ot_train.py:423 step:388K smpl:5M ep:16K epch:34.52 loss:0.032 grdn:1.753 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:12:41 ot_train.py:423 step:388K smpl:5M ep:16K epch:34.53 loss:0.033 grdn:1.737 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:12:49 ot_train.py:423 step:388K smpl:5M ep:16K epch:34.55 loss:0.032 grdn:1.716 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:12:57 ot_train.py:423 step:389K smpl:5M ep:16K epch:34.57 loss:0.033 grdn:1.810 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:13:06 ot_train.py:423 step:389K smpl:5M ep:16K epch:34.59 loss:0.033 grdn:1.822 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 23:13:14 ot_train.py:423 step:389K smpl:5M ep:16K epch:34.61 loss:0.033 grdn:1.796 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:13:22 ot_train.py:423 step:389K smpl:5M ep:16K epch:34.62 loss:0.033 grdn:1.768 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 23:13:31 ot_train.py:423 step:389K smpl:5M ep:16K epch:34.64 loss:0.034 grdn:1.787 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 23:13:39 ot_train.py:423 step:390K smpl:5M ep:16K epch:34.66 loss:0.033 grdn:1.727 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:13:47 ot_train.py:423 step:390K smpl:5M ep:16K epch:34.68 loss:0.032 grdn:1.644 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:13:55 ot_train.py:423 step:390K smpl:5M ep:16K epch:34.69 loss:0.033 grdn:1.768 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:13:55 ot_train.py:443 Checkpoint policy after step 390000
[Avatar] Pushing checkpoint (step 390000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 23:14:00 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 390000) OK
[Avatar] Tagged as 'step-390000'
INFO 2026-03-12 23:14:11 ot_train.py:423 step:390K smpl:5M ep:16K epch:34.71 loss:0.032 grdn:1.736 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 23:14:19 ot_train.py:423 step:390K smpl:5M ep:16K epch:34.73 loss:0.032 grdn:1.769 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:14:27 ot_train.py:423 step:391K smpl:5M ep:16K epch:34.75 loss:0.033 grdn:1.763 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:14:35 ot_train.py:423 step:391K smpl:5M ep:16K epch:34.77 loss:0.033 grdn:1.795 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:14:43 ot_train.py:423 step:391K smpl:5M ep:16K epch:34.78 loss:0.033 grdn:1.828 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:14:51 ot_train.py:423 step:391K smpl:5M ep:16K epch:34.80 loss:0.033 grdn:1.745 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:14:59 ot_train.py:423 step:391K smpl:5M ep:16K epch:34.82 loss:0.032 grdn:1.803 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:15:08 ot_train.py:423 step:392K smpl:5M ep:16K epch:34.84 loss:0.032 grdn:1.694 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:15:16 ot_train.py:423 step:392K smpl:5M ep:16K epch:34.86 loss:0.032 grdn:1.750 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:15:24 ot_train.py:423 step:392K smpl:5M ep:16K epch:34.87 loss:0.033 grdn:1.759 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:15:32 ot_train.py:423 step:392K smpl:5M ep:16K epch:34.89 loss:0.033 grdn:1.782 lr:1.0e-05 updt_s:0.040 data_s:0.004
INFO 2026-03-12 23:15:40 ot_train.py:423 step:392K smpl:5M ep:16K epch:34.91 loss:0.033 grdn:1.726 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:15:49 ot_train.py:423 step:393K smpl:5M ep:16K epch:34.93 loss:0.033 grdn:1.706 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:15:56 ot_train.py:423 step:393K smpl:5M ep:16K epch:34.94 loss:0.033 grdn:1.743 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:16:04 ot_train.py:423 step:393K smpl:5M ep:16K epch:34.96 loss:0.033 grdn:1.704 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:16:12 ot_train.py:423 step:393K smpl:5M ep:16K epch:34.98 loss:0.034 grdn:1.756 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:16:21 ot_train.py:423 step:393K smpl:5M ep:16K epch:35.00 loss:0.033 grdn:1.755 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:16:54 ot_train.py:423 step:394K smpl:5M ep:16K epch:35.02 loss:0.032 grdn:1.704 lr:1.0e-05 updt_s:0.037 data_s:0.132
INFO 2026-03-12 23:17:18 ot_train.py:423 step:394K smpl:5M ep:16K epch:35.03 loss:0.033 grdn:1.706 lr:1.0e-05 updt_s:0.037 data_s:0.081
INFO 2026-03-12 23:17:33 ot_train.py:423 step:394K smpl:5M ep:16K epch:35.05 loss:0.033 grdn:1.771 lr:1.0e-05 updt_s:0.037 data_s:0.041
INFO 2026-03-12 23:17:47 ot_train.py:423 step:394K smpl:5M ep:16K epch:35.07 loss:0.033 grdn:1.735 lr:1.0e-05 updt_s:0.037 data_s:0.030
INFO 2026-03-12 23:17:57 ot_train.py:423 step:394K smpl:5M ep:16K epch:35.09 loss:0.032 grdn:1.636 lr:1.0e-05 updt_s:0.038 data_s:0.012
INFO 2026-03-12 23:18:06 ot_train.py:423 step:395K smpl:5M ep:16K epch:35.10 loss:0.032 grdn:1.746 lr:1.0e-05 updt_s:0.036 data_s:0.007
INFO 2026-03-12 23:18:14 ot_train.py:423 step:395K smpl:5M ep:16K epch:35.12 loss:0.033 grdn:1.718 lr:1.0e-05 updt_s:0.037 data_s:0.006
INFO 2026-03-12 23:18:22 ot_train.py:423 step:395K smpl:5M ep:16K epch:35.14 loss:0.033 grdn:1.669 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:18:30 ot_train.py:423 step:395K smpl:5M ep:16K epch:35.16 loss:0.033 grdn:1.713 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:18:39 ot_train.py:423 step:395K smpl:5M ep:16K epch:35.18 loss:0.033 grdn:1.662 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:18:46 ot_train.py:423 step:396K smpl:5M ep:17K epch:35.19 loss:0.032 grdn:1.701 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:18:54 ot_train.py:423 step:396K smpl:5M ep:17K epch:35.21 loss:0.032 grdn:1.735 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:19:03 ot_train.py:423 step:396K smpl:5M ep:17K epch:35.23 loss:0.032 grdn:1.762 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:19:11 ot_train.py:423 step:396K smpl:5M ep:17K epch:35.25 loss:0.032 grdn:1.642 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:19:19 ot_train.py:423 step:396K smpl:5M ep:17K epch:35.26 loss:0.033 grdn:1.745 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:19:27 ot_train.py:423 step:397K smpl:5M ep:17K epch:35.28 loss:0.033 grdn:1.770 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:19:36 ot_train.py:423 step:397K smpl:5M ep:17K epch:35.30 loss:0.032 grdn:1.734 lr:1.0e-05 updt_s:0.038 data_s:0.004
INFO 2026-03-12 23:19:44 ot_train.py:423 step:397K smpl:5M ep:17K epch:35.32 loss:0.032 grdn:1.668 lr:1.0e-05 updt_s:0.039 data_s:0.004
INFO 2026-03-12 23:19:52 ot_train.py:423 step:397K smpl:5M ep:17K epch:35.34 loss:0.033 grdn:1.724 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:20:00 ot_train.py:423 step:397K smpl:5M ep:17K epch:35.35 loss:0.033 grdn:1.667 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:20:08 ot_train.py:423 step:398K smpl:5M ep:17K epch:35.37 loss:0.033 grdn:1.722 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:20:16 ot_train.py:423 step:398K smpl:5M ep:17K epch:35.39 loss:0.033 grdn:1.775 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:20:25 ot_train.py:423 step:398K smpl:5M ep:17K epch:35.41 loss:0.033 grdn:1.706 lr:1.0e-05 updt_s:0.037 data_s:0.004
INFO 2026-03-12 23:20:33 ot_train.py:423 step:398K smpl:5M ep:17K epch:35.42 loss:0.033 grdn:1.713 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:20:41 ot_train.py:423 step:398K smpl:5M ep:17K epch:35.44 loss:0.032 grdn:1.663 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:20:49 ot_train.py:423 step:399K smpl:5M ep:17K epch:35.46 loss:0.032 grdn:1.715 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:20:57 ot_train.py:423 step:399K smpl:5M ep:17K epch:35.48 loss:0.033 grdn:1.770 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:21:05 ot_train.py:423 step:399K smpl:5M ep:17K epch:35.50 loss:0.033 grdn:1.736 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:21:13 ot_train.py:423 step:399K smpl:5M ep:17K epch:35.51 loss:0.032 grdn:1.771 lr:1.0e-05 updt_s:0.037 data_s:0.003
INFO 2026-03-12 23:21:21 ot_train.py:423 step:399K smpl:5M ep:17K epch:35.53 loss:0.032 grdn:1.709 lr:1.0e-05 updt_s:0.038 data_s:0.003
INFO 2026-03-12 23:21:29 ot_train.py:423 step:400K smpl:5M ep:17K epch:35.55 loss:0.033 grdn:1.782 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:21:37 ot_train.py:423 step:400K smpl:5M ep:17K epch:35.57 loss:0.032 grdn:1.691 lr:1.0e-05 updt_s:0.036 data_s:0.004
INFO 2026-03-12 23:21:45 ot_train.py:423 step:400K smpl:5M ep:17K epch:35.58 loss:0.033 grdn:1.739 lr:1.0e-05 updt_s:0.036 data_s:0.003
INFO 2026-03-12 23:21:45 ot_train.py:443 Checkpoint policy after step 400000
[Avatar] Pushing checkpoint (step 400000) to avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749...

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INFO 2026-03-12 23:21:50 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b12-20260312-1749

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[Avatar] Pushed checkpoint (step 400000) OK
[Avatar] Tagged as 'step-400000'
INFO 2026-03-12 23:21:52 ot_train.py:514 End of training

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>>> Training finished with exit code 0
Ended: 2026-03-12 23:22:06 UTC
>>> Saving training log to HuggingFace...