=== Avatar Training (fire-and-forget) ===
Script: train_on_hf.py
Started: 2026-03-13 06:32:44 UTC

>>> [0/4] Raising file descriptor limit...
  ulimit -n = 65536
>>> [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...
Traceback (most recent call last):
  File "<string>", line 9, in <module>
  File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 106, in _inner_fn
    validate_repo_id(arg_value)
  File "/usr/local/lib/python3.11/dist-packages/huggingface_hub/utils/_validators.py", line 160, in validate_repo_id
    raise HFValidationError(
huggingface_hub.errors.HFValidationError: Repo id must use alphanumeric chars or '-', '_', '.', '--' and '..' are forbidden, '-' and '.' cannot start or end the name, max length is 96: 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000'.
  Downloading avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000...
  GPUs: 8x NVIDIA H100 80GB HBM3
>>> [4/4] Launching accelerate with 8 GPUs...
  Script: train_on_hf.py
  Train args: --dataset alpha_bot_right_afternoon --steps 100000 --batch-size 32 --lr 1e-4 --backbone resnet18 --preload --mixed-precision bf16 --num-workers 8 --prefetch-factor 4 --save-freq 10000 --push-to-hub --pretrained-path avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358:step-80000 

The following values were not passed to `accelerate launch` and had defaults used instead:
	`--num_machines` was set to a value of `1`
	`--mixed_precision` was set to a value of `'no'`
	`--dynamo_backend` was set to a value of `'no'`
To avoid this warning pass in values for each of the problematic parameters or run `accelerate config`.
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632
[Avatar] Mixed precision: bf16
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632
[Avatar] Mixed precision: bf16
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632
[Avatar] Mixed precision: bf16
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632
[Avatar] Mixed precision: bf16
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632
[Avatar] Mixed precision: bf16
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632
[Avatar] Mixed precision: bf16
Model will be pushed to: avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632
[Avatar] Mixed precision: bf16
[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...
[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...
[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...
[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...
[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...
[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...
[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...

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[Avatar] Downloading checkpoint avatarrobotics/act-alpha-bot-right-resnet18-b256-20260312-2358 @ step-80000 ...

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[Avatar] Checkpoint saved to /tmp/pretrained_checkpoint

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  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-b256-20260313-0632 \
  --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=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=/tmp/pretrained_checkpoint \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] cudnn.benchmark=True, tf32=True

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[Avatar] Checkpoint saved to /tmp/pretrained_checkpoint

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  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-b256-20260313-0632 \
  --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=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=/tmp/pretrained_checkpoint \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
[Avatar] cudnn.benchmark=True, tf32=True

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[Avatar] Checkpoint saved to /tmp/pretrained_checkpoint

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  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-b256-20260313-0632 \
  --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=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=/tmp/pretrained_checkpoint \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================


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[Avatar] Checkpoint saved to /tmp/pretrained_checkpoint

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  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-b256-20260313-0632 \
  --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=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=/tmp/pretrained_checkpoint \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
[Avatar] cudnn.benchmark=True, tf32=True
[Avatar] cudnn.benchmark=True, tf32=True

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[Avatar] Checkpoint saved to /tmp/pretrained_checkpoint

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  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-b256-20260313-0632 \
  --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=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=/tmp/pretrained_checkpoint \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
[Avatar] cudnn.benchmark=True, tf32=True
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.

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[Avatar] Checkpoint saved to /tmp/pretrained_checkpoint

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  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-b256-20260313-0632 \
  --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=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=/tmp/pretrained_checkpoint \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
[Avatar] cudnn.benchmark=True, tf32=True
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
INFO 2026-03-13 06:33:05 ot_train.py:195 {'batch_size': 32,
 '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': 0.0001,
               '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': 0.0001,
            'optimizer_lr_backbone': 0.0001,
            'optimizer_weight_decay': 0.0001,
            'output_features': {},
            'pre_norm': False,
            'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1',
            'pretrained_path': '/tmp/pretrained_checkpoint',
            'private': True,
            'push_to_hub': True,
            'replace_final_stride_with_dilation': False,
            'repo_id': 'avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632',
            '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': 100000,
 '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 2026-03-13 06:33:05 ot_train.py:203 Logs will be saved locally.
INFO 2026-03-13 06:33:05 ot_train.py:215 Creating dataset

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[Avatar] Checkpoint saved to /tmp/pretrained_checkpoint

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  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-b256-20260313-0632 \
  --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=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=/tmp/pretrained_checkpoint \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632 (with per-step tags)
[Avatar] Overriding prefetch_factor=4
WARNING:lerobot.configs.policies:Device 'None' is not available. Switching to 'cuda'.
[Avatar] cudnn.benchmark=True, tf32=True

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[Avatar] Checkpoint saved to /tmp/pretrained_checkpoint

============================================================
Training args:
  mixed_precision=bf16
  video_backend=pyav
  prefetch_factor=4
  preload=True
  compile=False
  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-b256-20260313-0632 \
  --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=0.0001 \
  --policy.optimizer_weight_decay=1e-4 \
  --policy.optimizer_lr_backbone=0.0001 \
  --batch_size=32 \
  --steps=100000 \
  --save_freq=10000 \
  --log_freq=200 \
  --save_checkpoint=true \
  --seed=1000 \
  --num_workers=8 \
  --output_dir=outputs/train/act-vacuum-pick \
  --policy.pretrained_path=/tmp/pretrained_checkpoint \
  --policy.push_to_hub=true \
  --policy.private=true
============================================================

[Avatar] Checkpoint push enabled → avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632 (with per-step tags)
[Avatar] Overriding prefetch_factor=4

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[Avatar] Overriding prefetch_factor=4

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[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Using /dev/shm (RAM-backed, 938GB free)
[Avatar] Pre-decoding videos to JPEG: /dev/shm/avatar_frames
  Extracting 938 videos with ffmpeg...
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  Done: 938/938 videos OK, 270,246 JPEGs, 18.8GB, 38s
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Preload complete (40s total)
[Avatar] Rank 0: signaled 7 other ranks
[Avatar] Installed corrupt-frame retry handler
NCCL version 2.26.2+cuda12.2
INFO 2026-03-13 06:35:02 ot_train.py:233 Creating policy
[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 2: waiting for preload...
[Avatar] Rank 2: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Installed corrupt-frame retry handler
[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 3: waiting for preload...
[Avatar] Rank 3: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Installed corrupt-frame retry handler
[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 4: waiting for preload...
[Avatar] Rank 4: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Installed corrupt-frame retry handler
[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 1: waiting for preload...
[Avatar] Rank 1: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Installed corrupt-frame retry handler
[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 5: waiting for preload...
[Avatar] Rank 5: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Installed corrupt-frame retry handler
[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 7: waiting for preload...
[Avatar] Rank 7: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Installed corrupt-frame retry handler
[Avatar] Set video tolerance_s=0.02
[Avatar] Camera transforms: arm=right, target=480x480
[Avatar] Rank 6: waiting for preload...
[Avatar] Rank 6: preload ready (0s)
[Avatar] Patched decode_video_frames (disk cache)
[Avatar] Installed corrupt-frame retry handler
Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /root/.cache/torch/hub/checkpoints/resnet18-f37072fd.pth
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Loading weights from local directory
Loading weights from local directory
Loading weights from local directory
Loading weights from local directory
Loading weights from local directory
Loading weights from local directory
INFO 2026-03-13 06:35:05 ot_train.py:288 Creating optimizer and scheduler
INFO 2026-03-13 06:35:05 ot_train.py:323 Output dir: outputs/train/act-vacuum-pick
INFO 2026-03-13 06:35:05 ot_train.py:330 cfg.steps=100000 (100K)
INFO 2026-03-13 06:35:05 ot_train.py:331 dataset.num_frames=134890 (135K)
INFO 2026-03-13 06:35:05 ot_train.py:332 dataset.num_episodes=469
INFO 2026-03-13 06:35:05 ot_train.py:335 Effective batch size: 32 x 8 = 256
INFO 2026-03-13 06:35:05 ot_train.py:336 num_learnable_params=51601288 (52M)
INFO 2026-03-13 06:35:05 ot_train.py:337 num_total_params=51601288 (52M)
INFO 2026-03-13 06:35:05 ot_train.py:393 Start offline training on a fixed dataset, with effective batch size: 256
[rank1]:[W313 06:35:12.316577081 reducer.cpp:1430] Warning: find_unused_parameters=True was specified in DDP constructor, but did not find any unused parameters in the forward pass. This flag results in an extra traversal of the autograd graph every iteration,  which can adversely affect performance. If your model indeed never has any unused parameters in the forward pass, consider turning this flag off. Note that this warning may be a false positive if your model has flow control causing later iterations to have unused parameters. (function operator())
[rank0]:[W313 06:35:12.365388890 reducer.cpp:1430] Warning: find_unused_parameters=True was specified in DDP constructor, but did not find any unused parameters in the forward pass. This flag results in an extra traversal of the autograd graph every iteration,  which can adversely affect performance. If your model indeed never has any unused parameters in the forward pass, consider turning this flag off. Note that this warning may be a false positive if your model has flow control causing later iterations to have unused parameters. (function operator())
[rank2]:[W313 06:35:13.521960311 reducer.cpp:1430] Warning: find_unused_parameters=True was specified in DDP constructor, but did not find any unused parameters in the forward pass. This flag results in an extra traversal of the autograd graph every iteration,  which can adversely affect performance. If your model indeed never has any unused parameters in the forward pass, consider turning this flag off. Note that this warning may be a false positive if your model has flow control causing later iterations to have unused parameters. (function operator())
[rank3]:[W313 06:35:13.577293691 reducer.cpp:1430] Warning: find_unused_parameters=True was specified in DDP constructor, but did not find any unused parameters in the forward pass. This flag results in an extra traversal of the autograd graph every iteration,  which can adversely affect performance. If your model indeed never has any unused parameters in the forward pass, consider turning this flag off. Note that this warning may be a false positive if your model has flow control causing later iterations to have unused parameters. (function operator())
[rank4]:[W313 06:35:13.600135798 reducer.cpp:1430] Warning: find_unused_parameters=True was specified in DDP constructor, but did not find any unused parameters in the forward pass. This flag results in an extra traversal of the autograd graph every iteration,  which can adversely affect performance. If your model indeed never has any unused parameters in the forward pass, consider turning this flag off. Note that this warning may be a false positive if your model has flow control causing later iterations to have unused parameters. (function operator())
[rank7]:[W313 06:35:13.800732502 reducer.cpp:1430] Warning: find_unused_parameters=True was specified in DDP constructor, but did not find any unused parameters in the forward pass. This flag results in an extra traversal of the autograd graph every iteration,  which can adversely affect performance. If your model indeed never has any unused parameters in the forward pass, consider turning this flag off. Note that this warning may be a false positive if your model has flow control causing later iterations to have unused parameters. (function operator())
[rank6]:[W313 06:35:13.976514089 reducer.cpp:1430] Warning: find_unused_parameters=True was specified in DDP constructor, but did not find any unused parameters in the forward pass. This flag results in an extra traversal of the autograd graph every iteration,  which can adversely affect performance. If your model indeed never has any unused parameters in the forward pass, consider turning this flag off. Note that this warning may be a false positive if your model has flow control causing later iterations to have unused parameters. (function operator())
[rank5]:[W313 06:35:13.051312665 reducer.cpp:1430] Warning: find_unused_parameters=True was specified in DDP constructor, but did not find any unused parameters in the forward pass. This flag results in an extra traversal of the autograd graph every iteration,  which can adversely affect performance. If your model indeed never has any unused parameters in the forward pass, consider turning this flag off. Note that this warning may be a false positive if your model has flow control causing later iterations to have unused parameters. (function operator())
INFO 2026-03-13 06:36:30 ot_train.py:423 step:200 smpl:410K ep:1K epch:3.04 loss:0.055 grdn:3.244 lr:1.0e-04 updt_s:0.137 data_s:0.285
INFO 2026-03-13 06:37:20 ot_train.py:423 step:400 smpl:819K ep:3K epch:6.07 loss:0.032 grdn:1.530 lr:1.0e-04 updt_s:0.121 data_s:0.126
INFO 2026-03-13 06:38:25 ot_train.py:423 step:600 smpl:1M ep:4K epch:9.11 loss:0.035 grdn:2.458 lr:1.0e-04 updt_s:0.184 data_s:0.141
INFO 2026-03-13 06:39:28 ot_train.py:423 step:800 smpl:2M ep:6K epch:12.15 loss:0.038 grdn:2.329 lr:1.0e-04 updt_s:0.265 data_s:0.047
INFO 2026-03-13 06:40:15 ot_train.py:423 step:1K smpl:2M ep:7K epch:15.18 loss:0.034 grdn:2.616 lr:1.0e-04 updt_s:0.223 data_s:0.012
INFO 2026-03-13 06:41:31 ot_train.py:423 step:1K smpl:2M ep:9K epch:18.22 loss:0.037 grdn:2.632 lr:1.0e-04 updt_s:0.249 data_s:0.129
INFO 2026-03-13 06:42:25 ot_train.py:423 step:1K smpl:3M ep:10K epch:21.26 loss:0.039 grdn:2.355 lr:1.0e-04 updt_s:0.257 data_s:0.011
INFO 2026-03-13 06:43:18 ot_train.py:423 step:2K smpl:3M ep:11K epch:24.29 loss:0.038 grdn:2.225 lr:1.0e-04 updt_s:0.196 data_s:0.071
INFO 2026-03-13 06:44:33 ot_train.py:423 step:2K smpl:4M ep:13K epch:27.33 loss:0.034 grdn:2.581 lr:1.0e-04 updt_s:0.199 data_s:0.173
INFO 2026-03-13 06:45:22 ot_train.py:423 step:2K smpl:4M ep:14K epch:30.37 loss:0.034 grdn:2.419 lr:1.0e-04 updt_s:0.143 data_s:0.102
INFO 2026-03-13 06:46:29 ot_train.py:423 step:2K smpl:5M ep:16K epch:33.40 loss:0.024 grdn:2.263 lr:1.0e-04 updt_s:0.190 data_s:0.143
INFO 2026-03-13 06:47:31 ot_train.py:423 step:2K smpl:5M ep:17K epch:36.44 loss:0.024 grdn:2.505 lr:1.0e-04 updt_s:0.236 data_s:0.073
INFO 2026-03-13 06:48:19 ot_train.py:423 step:3K smpl:5M ep:19K epch:39.48 loss:0.033 grdn:2.493 lr:1.0e-04 updt_s:0.227 data_s:0.012
INFO 2026-03-13 06:49:38 ot_train.py:423 step:3K smpl:6M ep:20K epch:42.51 loss:0.030 grdn:2.490 lr:1.0e-04 updt_s:0.171 data_s:0.222
INFO 2026-03-13 06:50:30 ot_train.py:423 step:3K smpl:6M ep:21K epch:45.55 loss:0.025 grdn:2.277 lr:1.0e-04 updt_s:0.237 data_s:0.024
INFO 2026-03-13 06:51:30 ot_train.py:423 step:3K smpl:7M ep:23K epch:48.58 loss:0.027 grdn:2.432 lr:1.0e-04 updt_s:0.207 data_s:0.088
INFO 2026-03-13 06:52:41 ot_train.py:423 step:3K smpl:7M ep:24K epch:51.62 loss:0.021 grdn:2.158 lr:1.0e-04 updt_s:0.343 data_s:0.016
INFO 2026-03-13 06:53:31 ot_train.py:423 step:4K smpl:7M ep:26K epch:54.66 loss:0.033 grdn:2.527 lr:1.0e-04 updt_s:0.234 data_s:0.012
INFO 2026-03-13 06:54:40 ot_train.py:423 step:4K smpl:8M ep:27K epch:57.69 loss:0.041 grdn:2.906 lr:1.0e-04 updt_s:0.165 data_s:0.180
INFO 2026-03-13 06:55:40 ot_train.py:423 step:4K smpl:8M ep:28K epch:60.73 loss:0.032 grdn:2.807 lr:1.0e-04 updt_s:0.216 data_s:0.081
INFO 2026-03-13 06:56:27 ot_train.py:423 step:4K smpl:9M ep:30K epch:63.77 loss:0.027 grdn:2.488 lr:1.0e-04 updt_s:0.224 data_s:0.012
INFO 2026-03-13 06:57:48 ot_train.py:423 step:4K smpl:9M ep:31K epch:66.80 loss:0.032 grdn:2.452 lr:1.0e-04 updt_s:0.205 data_s:0.196
INFO 2026-03-13 06:58:40 ot_train.py:423 step:5K smpl:9M ep:33K epch:69.84 loss:0.026 grdn:2.266 lr:1.0e-04 updt_s:0.245 data_s:0.015
INFO 2026-03-13 06:59:43 ot_train.py:423 step:5K smpl:10M ep:34K epch:72.88 loss:0.036 grdn:2.545 lr:1.0e-04 updt_s:0.171 data_s:0.145
INFO 2026-03-13 07:00:48 ot_train.py:423 step:5K smpl:10M ep:36K epch:75.91 loss:0.039 grdn:2.825 lr:1.0e-04 updt_s:0.197 data_s:0.128
INFO 2026-03-13 07:01:38 ot_train.py:423 step:5K smpl:11M ep:37K epch:78.95 loss:0.029 grdn:2.402 lr:1.0e-04 updt_s:0.225 data_s:0.021
INFO 2026-03-13 07:02:53 ot_train.py:423 step:5K smpl:11M ep:38K epch:81.99 loss:0.030 grdn:2.529 lr:1.0e-04 updt_s:0.200 data_s:0.175
INFO 2026-03-13 07:03:50 ot_train.py:423 step:6K smpl:11M ep:40K epch:85.02 loss:0.029 grdn:2.480 lr:1.0e-04 updt_s:0.202 data_s:0.084
INFO 2026-03-13 07:04:40 ot_train.py:423 step:6K smpl:12M ep:41K epch:88.06 loss:0.032 grdn:2.408 lr:1.0e-04 updt_s:0.149 data_s:0.095
INFO 2026-03-13 07:06:00 ot_train.py:423 step:6K smpl:12M ep:43K epch:91.10 loss:0.030 grdn:2.367 lr:1.0e-04 updt_s:0.106 data_s:0.295
INFO 2026-03-13 07:06:50 ot_train.py:423 step:6K smpl:13M ep:44K epch:94.13 loss:0.030 grdn:2.686 lr:1.0e-04 updt_s:0.126 data_s:0.122
INFO 2026-03-13 07:07:54 ot_train.py:423 step:6K smpl:13M ep:46K epch:97.17 loss:0.030 grdn:2.411 lr:1.0e-04 updt_s:0.186 data_s:0.134
INFO 2026-03-13 07:08:58 ot_train.py:423 step:7K smpl:14M ep:47K epch:100.21 loss:0.034 grdn:2.657 lr:1.0e-04 updt_s:0.301 data_s:0.017
INFO 2026-03-13 07:09:47 ot_train.py:423 step:7K smpl:14M ep:48K epch:103.24 loss:0.037 grdn:2.653 lr:1.0e-04 updt_s:0.233 data_s:0.011
INFO 2026-03-13 07:11:05 ot_train.py:423 step:7K smpl:14M ep:50K epch:106.28 loss:0.031 grdn:2.648 lr:1.0e-04 updt_s:0.256 data_s:0.130
INFO 2026-03-13 07:11:59 ot_train.py:423 step:7K smpl:15M ep:51K epch:109.32 loss:0.036 grdn:2.693 lr:1.0e-04 updt_s:0.232 data_s:0.041
INFO 2026-03-13 07:12:52 ot_train.py:423 step:7K smpl:15M ep:53K epch:112.35 loss:0.031 grdn:2.533 lr:1.0e-04 updt_s:0.195 data_s:0.069
INFO 2026-03-13 07:14:07 ot_train.py:423 step:8K smpl:16M ep:54K epch:115.39 loss:0.037 grdn:2.431 lr:1.0e-04 updt_s:0.259 data_s:0.111
INFO 2026-03-13 07:14:57 ot_train.py:423 step:8K smpl:16M ep:56K epch:118.43 loss:0.024 grdn:2.367 lr:1.0e-04 updt_s:0.240 data_s:0.012
INFO 2026-03-13 07:16:07 ot_train.py:423 step:8K smpl:16M ep:57K epch:121.46 loss:0.037 grdn:2.876 lr:1.0e-04 updt_s:0.229 data_s:0.119
INFO 2026-03-13 07:17:07 ot_train.py:423 step:8K smpl:17M ep:58K epch:124.50 loss:0.029 grdn:2.639 lr:1.0e-04 updt_s:0.189 data_s:0.110
INFO 2026-03-13 07:17:56 ot_train.py:423 step:8K smpl:17M ep:60K epch:127.54 loss:0.029 grdn:2.403 lr:1.0e-04 updt_s:0.206 data_s:0.036
INFO 2026-03-13 07:19:15 ot_train.py:423 step:9K smpl:18M ep:61K epch:130.57 loss:0.023 grdn:2.290 lr:1.0e-04 updt_s:0.293 data_s:0.100
INFO 2026-03-13 07:20:07 ot_train.py:423 step:9K smpl:18M ep:63K epch:133.61 loss:0.038 grdn:2.914 lr:1.0e-04 updt_s:0.251 data_s:0.011
INFO 2026-03-13 07:21:07 ot_train.py:423 step:9K smpl:18M ep:64K epch:136.64 loss:0.038 grdn:2.630 lr:1.0e-04 updt_s:0.195 data_s:0.100
INFO 2026-03-13 07:22:15 ot_train.py:423 step:9K smpl:19M ep:66K epch:139.68 loss:0.039 grdn:2.816 lr:1.0e-04 updt_s:0.256 data_s:0.086
INFO 2026-03-13 07:23:05 ot_train.py:423 step:9K smpl:19M ep:67K epch:142.72 loss:0.038 grdn:2.614 lr:1.0e-04 updt_s:0.210 data_s:0.037
INFO 2026-03-13 07:24:18 ot_train.py:423 step:10K smpl:20M ep:68K epch:145.75 loss:0.039 grdn:2.576 lr:1.0e-04 updt_s:0.251 data_s:0.114
INFO 2026-03-13 07:25:16 ot_train.py:423 step:10K smpl:20M ep:70K epch:148.79 loss:0.030 grdn:2.399 lr:1.0e-04 updt_s:0.254 data_s:0.033
INFO 2026-03-13 07:26:02 ot_train.py:423 step:10K smpl:20M ep:71K epch:151.83 loss:0.027 grdn:2.156 lr:1.0e-04 updt_s:0.218 data_s:0.012
INFO 2026-03-13 07:26:02 ot_train.py:443 Checkpoint policy after step 10000
[Avatar] Pushing checkpoint (step 10000) to avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632...

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INFO 2026-03-13 07:27:36 ot_train.py:423 step:10K smpl:21M ep:73K epch:154.86 loss:0.026 grdn:1.957 lr:1.0e-04 updt_s:0.148 data_s:0.257
INFO 2026-03-13 07:28:29 ot_train.py:423 step:10K smpl:21M ep:74K epch:157.90 loss:0.026 grdn:2.349 lr:1.0e-04 updt_s:0.227 data_s:0.035
INFO 2026-03-13 07:29:32 ot_train.py:423 step:11K smpl:22M ep:75K epch:160.94 loss:0.032 grdn:2.603 lr:1.0e-04 updt_s:0.226 data_s:0.088
INFO 2026-03-13 07:30:39 ot_train.py:423 step:11K smpl:22M ep:77K epch:163.97 loss:0.034 grdn:2.838 lr:1.0e-04 updt_s:0.125 data_s:0.208
INFO 2026-03-13 07:31:27 ot_train.py:423 step:11K smpl:23M ep:78K epch:167.01 loss:0.032 grdn:2.715 lr:1.0e-04 updt_s:0.188 data_s:0.054
INFO 2026-03-13 07:32:42 ot_train.py:423 step:11K smpl:23M ep:80K epch:170.05 loss:0.030 grdn:2.709 lr:1.0e-04 updt_s:0.218 data_s:0.152
INFO 2026-03-13 07:33:39 ot_train.py:423 step:11K smpl:23M ep:81K epch:173.08 loss:0.037 grdn:2.573 lr:1.0e-04 updt_s:0.238 data_s:0.048
INFO 2026-03-13 07:34:27 ot_train.py:423 step:12K smpl:24M ep:83K epch:176.12 loss:0.037 grdn:2.491 lr:1.0e-04 updt_s:0.130 data_s:0.109
INFO 2026-03-13 07:35:46 ot_train.py:423 step:12K smpl:24M ep:84K epch:179.16 loss:0.023 grdn:2.119 lr:1.0e-04 updt_s:0.127 data_s:0.267
INFO 2026-03-13 07:36:37 ot_train.py:423 step:12K smpl:25M ep:85K epch:182.19 loss:0.019 grdn:2.051 lr:1.0e-04 updt_s:0.157 data_s:0.096
INFO 2026-03-13 07:37:43 ot_train.py:423 step:12K smpl:25M ep:87K epch:185.23 loss:0.031 grdn:2.187 lr:1.0e-04 updt_s:0.117 data_s:0.213
INFO 2026-03-13 07:38:48 ot_train.py:423 step:12K smpl:25M ep:88K epch:188.27 loss:0.032 grdn:2.543 lr:1.0e-04 updt_s:0.099 data_s:0.222
INFO 2026-03-13 07:39:37 ot_train.py:423 step:13K smpl:26M ep:90K epch:191.30 loss:0.037 grdn:2.515 lr:1.0e-04 updt_s:0.119 data_s:0.124
INFO 2026-03-13 07:40:53 ot_train.py:423 step:13K smpl:26M ep:91K epch:194.34 loss:0.036 grdn:2.635 lr:1.0e-04 updt_s:0.175 data_s:0.205
INFO 2026-03-13 07:41:47 ot_train.py:423 step:13K smpl:27M ep:93K epch:197.38 loss:0.040 grdn:2.876 lr:1.0e-04 updt_s:0.164 data_s:0.105
INFO 2026-03-13 07:42:43 ot_train.py:423 step:13K smpl:27M ep:94K epch:200.41 loss:0.036 grdn:2.674 lr:1.0e-04 updt_s:0.196 data_s:0.085
INFO 2026-03-13 07:43:55 ot_train.py:423 step:13K smpl:27M ep:95K epch:203.45 loss:0.044 grdn:2.654 lr:1.0e-04 updt_s:0.106 data_s:0.254
INFO 2026-03-13 07:44:46 ot_train.py:423 step:14K smpl:28M ep:97K epch:206.49 loss:0.035 grdn:2.595 lr:1.0e-04 updt_s:0.191 data_s:0.059
INFO 2026-03-13 07:45:56 ot_train.py:423 step:14K smpl:28M ep:98K epch:209.52 loss:0.034 grdn:2.157 lr:1.0e-04 updt_s:0.237 data_s:0.114
INFO 2026-03-13 07:46:57 ot_train.py:423 step:14K smpl:29M ep:100K epch:212.56 loss:0.024 grdn:2.037 lr:1.0e-04 updt_s:0.176 data_s:0.127
INFO 2026-03-13 07:47:44 ot_train.py:423 step:14K smpl:29M ep:101K epch:215.59 loss:0.018 grdn:2.070 lr:1.0e-04 updt_s:0.116 data_s:0.119
INFO 2026-03-13 07:49:03 ot_train.py:423 step:14K smpl:29M ep:103K epch:218.63 loss:0.020 grdn:2.495 lr:1.0e-04 updt_s:0.274 data_s:0.118
INFO 2026-03-13 07:49:57 ot_train.py:423 step:15K smpl:30M ep:104K epch:221.67 loss:0.024 grdn:2.199 lr:1.0e-04 updt_s:0.255 data_s:0.012
INFO 2026-03-13 07:50:56 ot_train.py:423 step:15K smpl:30M ep:105K epch:224.70 loss:0.021 grdn:2.514 lr:1.0e-04 updt_s:0.200 data_s:0.097
INFO 2026-03-13 07:52:06 ot_train.py:423 step:15K smpl:31M ep:107K epch:227.74 loss:0.019 grdn:2.272 lr:1.0e-04 updt_s:0.324 data_s:0.025
INFO 2026-03-13 07:52:55 ot_train.py:423 step:15K smpl:31M ep:108K epch:230.78 loss:0.032 grdn:2.357 lr:1.0e-04 updt_s:0.232 data_s:0.011
INFO 2026-03-13 07:54:10 ot_train.py:423 step:15K smpl:32M ep:110K epch:233.81 loss:0.024 grdn:2.597 lr:1.0e-04 updt_s:0.204 data_s:0.167
INFO 2026-03-13 07:55:06 ot_train.py:423 step:16K smpl:32M ep:111K epch:236.85 loss:0.036 grdn:3.103 lr:1.0e-04 updt_s:0.101 data_s:0.180
INFO 2026-03-13 07:55:52 ot_train.py:423 step:16K smpl:32M ep:113K epch:239.89 loss:0.031 grdn:2.339 lr:1.0e-04 updt_s:0.212 data_s:0.018
INFO 2026-03-13 07:57:15 ot_train.py:423 step:16K smpl:33M ep:114K epch:242.92 loss:0.045 grdn:2.661 lr:1.0e-04 updt_s:0.257 data_s:0.155
INFO 2026-03-13 07:58:07 ot_train.py:423 step:16K smpl:33M ep:115K epch:245.96 loss:0.032 grdn:2.810 lr:1.0e-04 updt_s:0.214 data_s:0.046
INFO 2026-03-13 07:59:11 ot_train.py:423 step:16K smpl:34M ep:117K epch:249.00 loss:0.030 grdn:2.266 lr:1.0e-04 updt_s:0.162 data_s:0.153
INFO 2026-03-13 08:00:18 ot_train.py:423 step:17K smpl:34M ep:118K epch:252.03 loss:0.024 grdn:2.117 lr:1.0e-04 updt_s:0.145 data_s:0.191
INFO 2026-03-13 08:01:07 ot_train.py:423 step:17K smpl:34M ep:120K epch:255.07 loss:0.031 grdn:1.993 lr:1.0e-04 updt_s:0.150 data_s:0.093
INFO 2026-03-13 08:02:24 ot_train.py:423 step:17K smpl:35M ep:121K epch:258.11 loss:0.022 grdn:2.106 lr:1.0e-04 updt_s:0.203 data_s:0.178
INFO 2026-03-13 08:03:19 ot_train.py:423 step:17K smpl:35M ep:122K epch:261.14 loss:0.031 grdn:2.196 lr:1.0e-04 updt_s:0.166 data_s:0.111
INFO 2026-03-13 08:04:12 ot_train.py:423 step:17K smpl:36M ep:124K epch:264.18 loss:0.028 grdn:2.270 lr:1.0e-04 updt_s:0.110 data_s:0.152
INFO 2026-03-13 08:05:29 ot_train.py:423 step:18K smpl:36M ep:125K epch:267.22 loss:0.031 grdn:2.908 lr:1.0e-04 updt_s:0.162 data_s:0.223
INFO 2026-03-13 08:06:20 ot_train.py:423 step:18K smpl:36M ep:127K epch:270.25 loss:0.034 grdn:2.501 lr:1.0e-04 updt_s:0.112 data_s:0.142
INFO 2026-03-13 08:07:28 ot_train.py:423 step:18K smpl:37M ep:128K epch:273.29 loss:0.026 grdn:2.296 lr:1.0e-04 updt_s:0.139 data_s:0.199
INFO 2026-03-13 08:08:30 ot_train.py:423 step:18K smpl:37M ep:130K epch:276.33 loss:0.029 grdn:2.370 lr:1.0e-04 updt_s:0.242 data_s:0.068
INFO 2026-03-13 08:09:18 ot_train.py:423 step:18K smpl:38M ep:131K epch:279.36 loss:0.035 grdn:2.525 lr:1.0e-04 updt_s:0.225 data_s:0.012
INFO 2026-03-13 08:10:35 ot_train.py:423 step:19K smpl:38M ep:132K epch:282.40 loss:0.043 grdn:2.640 lr:1.0e-04 updt_s:0.143 data_s:0.239
INFO 2026-03-13 08:11:29 ot_train.py:423 step:19K smpl:39M ep:134K epch:285.44 loss:0.037 grdn:2.747 lr:1.0e-04 updt_s:0.155 data_s:0.118
INFO 2026-03-13 08:12:26 ot_train.py:423 step:19K smpl:39M ep:135K epch:288.47 loss:0.027 grdn:2.492 lr:1.0e-04 updt_s:0.118 data_s:0.162
INFO 2026-03-13 08:13:40 ot_train.py:423 step:19K smpl:39M ep:137K epch:291.51 loss:0.021 grdn:2.366 lr:1.0e-04 updt_s:0.183 data_s:0.188
INFO 2026-03-13 08:14:30 ot_train.py:423 step:19K smpl:40M ep:138K epch:294.55 loss:0.028 grdn:2.313 lr:1.0e-04 updt_s:0.160 data_s:0.090
INFO 2026-03-13 08:15:41 ot_train.py:423 step:20K smpl:40M ep:140K epch:297.58 loss:0.030 grdn:2.666 lr:1.0e-04 updt_s:0.155 data_s:0.198
INFO 2026-03-13 08:16:43 ot_train.py:423 step:20K smpl:41M ep:141K epch:300.62 loss:0.028 grdn:2.439 lr:1.0e-04 updt_s:0.116 data_s:0.191
INFO 2026-03-13 08:17:29 ot_train.py:423 step:20K smpl:41M ep:142K epch:303.65 loss:0.032 grdn:2.645 lr:1.0e-04 updt_s:0.122 data_s:0.109
INFO 2026-03-13 08:17:29 ot_train.py:443 Checkpoint policy after step 20000
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INFO 2026-03-13 08:17:42 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632

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[Avatar] Pushed checkpoint (step 20000) OK
[Avatar] Tagged as 'step-20000'
INFO 2026-03-13 08:19:06 ot_train.py:423 step:20K smpl:41M ep:144K epch:306.69 loss:0.029 grdn:2.391 lr:1.0e-04 updt_s:0.125 data_s:0.265
INFO 2026-03-13 08:19:59 ot_train.py:423 step:20K smpl:42M ep:145K epch:309.73 loss:0.035 grdn:2.436 lr:1.0e-04 updt_s:0.118 data_s:0.147
INFO 2026-03-13 08:20:58 ot_train.py:423 step:21K smpl:42M ep:147K epch:312.76 loss:0.040 grdn:2.685 lr:1.0e-04 updt_s:0.126 data_s:0.166
INFO 2026-03-13 08:22:07 ot_train.py:423 step:21K smpl:43M ep:148K epch:315.80 loss:0.032 grdn:2.697 lr:1.0e-04 updt_s:0.105 data_s:0.241
INFO 2026-03-13 08:22:57 ot_train.py:423 step:21K smpl:43M ep:150K epch:318.84 loss:0.038 grdn:2.679 lr:1.0e-04 updt_s:0.114 data_s:0.134
INFO 2026-03-13 08:24:10 ot_train.py:423 step:21K smpl:43M ep:151K epch:321.87 loss:0.044 grdn:2.292 lr:1.0e-04 updt_s:0.221 data_s:0.143
INFO 2026-03-13 08:25:06 ot_train.py:423 step:21K smpl:44M ep:152K epch:324.91 loss:0.032 grdn:2.687 lr:1.0e-04 updt_s:0.190 data_s:0.086
INFO 2026-03-13 08:25:50 ot_train.py:423 step:22K smpl:44M ep:154K epch:327.95 loss:0.038 grdn:2.678 lr:1.0e-04 updt_s:0.185 data_s:0.037
INFO 2026-03-13 08:27:12 ot_train.py:423 step:22K smpl:45M ep:155K epch:330.98 loss:0.033 grdn:2.310 lr:1.0e-04 updt_s:0.230 data_s:0.175
INFO 2026-03-13 08:28:05 ot_train.py:423 step:22K smpl:45M ep:157K epch:334.02 loss:0.030 grdn:2.224 lr:1.0e-04 updt_s:0.136 data_s:0.127
INFO 2026-03-13 08:29:09 ot_train.py:423 step:22K smpl:45M ep:158K epch:337.06 loss:0.029 grdn:2.332 lr:1.0e-04 updt_s:0.212 data_s:0.109
INFO 2026-03-13 08:30:13 ot_train.py:423 step:22K smpl:46M ep:160K epch:340.09 loss:0.027 grdn:2.341 lr:1.0e-04 updt_s:0.199 data_s:0.120
INFO 2026-03-13 08:31:01 ot_train.py:423 step:23K smpl:46M ep:161K epch:343.13 loss:0.027 grdn:2.159 lr:1.0e-04 updt_s:0.227 data_s:0.011
INFO 2026-03-13 08:32:15 ot_train.py:423 step:23K smpl:47M ep:162K epch:346.17 loss:0.022 grdn:2.247 lr:1.0e-04 updt_s:0.154 data_s:0.217
INFO 2026-03-13 08:33:12 ot_train.py:423 step:23K smpl:47M ep:164K epch:349.20 loss:0.031 grdn:2.770 lr:1.0e-04 updt_s:0.137 data_s:0.144
INFO 2026-03-13 08:34:03 ot_train.py:423 step:23K smpl:48M ep:165K epch:352.24 loss:0.028 grdn:2.350 lr:1.0e-04 updt_s:0.118 data_s:0.139
INFO 2026-03-13 08:35:20 ot_train.py:423 step:23K smpl:48M ep:167K epch:355.28 loss:0.027 grdn:2.411 lr:1.0e-04 updt_s:0.227 data_s:0.158
INFO 2026-03-13 08:36:10 ot_train.py:423 step:24K smpl:48M ep:168K epch:358.31 loss:0.036 grdn:2.698 lr:1.0e-04 updt_s:0.130 data_s:0.119
INFO 2026-03-13 08:37:19 ot_train.py:423 step:24K smpl:49M ep:169K epch:361.35 loss:0.033 grdn:2.454 lr:1.0e-04 updt_s:0.209 data_s:0.132
INFO 2026-03-13 08:38:22 ot_train.py:423 step:24K smpl:49M ep:171K epch:364.39 loss:0.033 grdn:2.450 lr:1.0e-04 updt_s:0.165 data_s:0.150
INFO 2026-03-13 08:39:10 ot_train.py:423 step:24K smpl:50M ep:172K epch:367.42 loss:0.030 grdn:2.110 lr:1.0e-04 updt_s:0.151 data_s:0.089
INFO 2026-03-13 08:40:29 ot_train.py:423 step:24K smpl:50M ep:174K epch:370.46 loss:0.024 grdn:2.102 lr:1.0e-04 updt_s:0.113 data_s:0.278
INFO 2026-03-13 08:41:24 ot_train.py:423 step:25K smpl:50M ep:175K epch:373.50 loss:0.024 grdn:2.091 lr:1.0e-04 updt_s:0.165 data_s:0.107
INFO 2026-03-13 08:42:18 ot_train.py:423 step:25K smpl:51M ep:177K epch:376.53 loss:0.022 grdn:2.036 lr:1.0e-04 updt_s:0.181 data_s:0.090
INFO 2026-03-13 08:43:31 ot_train.py:423 step:25K smpl:51M ep:178K epch:379.57 loss:0.034 grdn:2.726 lr:1.0e-04 updt_s:0.127 data_s:0.237
INFO 2026-03-13 08:44:21 ot_train.py:423 step:25K smpl:52M ep:179K epch:382.61 loss:0.030 grdn:2.424 lr:1.0e-04 updt_s:0.113 data_s:0.137
INFO 2026-03-13 08:45:31 ot_train.py:423 step:25K smpl:52M ep:181K epch:385.64 loss:0.034 grdn:2.479 lr:1.0e-04 updt_s:0.173 data_s:0.177
INFO 2026-03-13 08:46:32 ot_train.py:423 step:26K smpl:52M ep:182K epch:388.68 loss:0.020 grdn:2.518 lr:1.0e-04 updt_s:0.291 data_s:0.011
INFO 2026-03-13 08:47:19 ot_train.py:423 step:26K smpl:53M ep:184K epch:391.71 loss:0.027 grdn:2.442 lr:1.0e-04 updt_s:0.221 data_s:0.012
INFO 2026-03-13 08:48:36 ot_train.py:423 step:26K smpl:53M ep:185K epch:394.75 loss:0.032 grdn:2.266 lr:1.0e-04 updt_s:0.222 data_s:0.163
INFO 2026-03-13 08:49:30 ot_train.py:423 step:26K smpl:54M ep:187K epch:397.79 loss:0.029 grdn:2.408 lr:1.0e-04 updt_s:0.171 data_s:0.098
INFO 2026-03-13 08:50:31 ot_train.py:423 step:26K smpl:54M ep:188K epch:400.82 loss:0.024 grdn:2.469 lr:1.0e-04 updt_s:0.123 data_s:0.184
INFO 2026-03-13 08:51:38 ot_train.py:423 step:27K smpl:54M ep:189K epch:403.86 loss:0.033 grdn:2.597 lr:1.0e-04 updt_s:0.253 data_s:0.079
INFO 2026-03-13 08:52:28 ot_train.py:423 step:27K smpl:55M ep:191K epch:406.90 loss:0.034 grdn:2.692 lr:1.0e-04 updt_s:0.226 data_s:0.024
INFO 2026-03-13 08:53:43 ot_train.py:423 step:27K smpl:55M ep:192K epch:409.93 loss:0.033 grdn:2.515 lr:1.0e-04 updt_s:0.300 data_s:0.071
INFO 2026-03-13 08:54:39 ot_train.py:423 step:27K smpl:56M ep:194K epch:412.97 loss:0.036 grdn:2.517 lr:1.0e-04 updt_s:0.270 data_s:0.012
INFO 2026-03-13 08:55:24 ot_train.py:423 step:27K smpl:56M ep:195K epch:416.01 loss:0.033 grdn:2.516 lr:1.0e-04 updt_s:0.158 data_s:0.063
INFO 2026-03-13 08:56:46 ot_train.py:423 step:28K smpl:57M ep:197K epch:419.04 loss:0.021 grdn:2.271 lr:1.0e-04 updt_s:0.195 data_s:0.216
INFO 2026-03-13 08:57:38 ot_train.py:423 step:28K smpl:57M ep:198K epch:422.08 loss:0.034 grdn:2.546 lr:1.0e-04 updt_s:0.209 data_s:0.051
INFO 2026-03-13 08:58:43 ot_train.py:423 step:28K smpl:57M ep:199K epch:425.12 loss:0.043 grdn:2.958 lr:1.0e-04 updt_s:0.184 data_s:0.139
INFO 2026-03-13 08:59:50 ot_train.py:423 step:28K smpl:58M ep:201K epch:428.15 loss:0.033 grdn:2.371 lr:1.0e-04 updt_s:0.141 data_s:0.192
INFO 2026-03-13 09:00:37 ot_train.py:423 step:28K smpl:58M ep:202K epch:431.19 loss:0.025 grdn:2.233 lr:1.0e-04 updt_s:0.163 data_s:0.071
INFO 2026-03-13 09:01:53 ot_train.py:423 step:29K smpl:59M ep:204K epch:434.23 loss:0.031 grdn:2.026 lr:1.0e-04 updt_s:0.223 data_s:0.157
INFO 2026-03-13 09:02:48 ot_train.py:423 step:29K smpl:59M ep:205K epch:437.26 loss:0.032 grdn:2.311 lr:1.0e-04 updt_s:0.173 data_s:0.099
INFO 2026-03-13 09:03:39 ot_train.py:423 step:29K smpl:59M ep:207K epch:440.30 loss:0.039 grdn:2.988 lr:1.0e-04 updt_s:0.203 data_s:0.050
INFO 2026-03-13 09:04:57 ot_train.py:423 step:29K smpl:60M ep:208K epch:443.34 loss:0.028 grdn:2.322 lr:1.0e-04 updt_s:0.257 data_s:0.134
INFO 2026-03-13 09:05:47 ot_train.py:423 step:29K smpl:60M ep:209K epch:446.37 loss:0.030 grdn:2.187 lr:1.0e-04 updt_s:0.116 data_s:0.131
INFO 2026-03-13 09:06:56 ot_train.py:423 step:30K smpl:61M ep:211K epch:449.41 loss:0.014 grdn:2.269 lr:1.0e-04 updt_s:0.108 data_s:0.238
INFO 2026-03-13 09:07:57 ot_train.py:423 step:30K smpl:61M ep:212K epch:452.45 loss:0.029 grdn:2.289 lr:1.0e-04 updt_s:0.110 data_s:0.190
INFO 2026-03-13 09:08:44 ot_train.py:423 step:30K smpl:61M ep:214K epch:455.48 loss:0.024 grdn:2.588 lr:1.0e-04 updt_s:0.148 data_s:0.090
INFO 2026-03-13 09:08:44 ot_train.py:443 Checkpoint policy after step 30000
[Avatar] Pushing checkpoint (step 30000) to avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632...

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INFO 2026-03-13 09:08:59 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632

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[Avatar] Pushed checkpoint (step 30000) OK
[Avatar] Tagged as 'step-30000'
INFO 2026-03-13 09:10:16 ot_train.py:423 step:30K smpl:62M ep:215K epch:458.52 loss:0.031 grdn:2.471 lr:1.0e-04 updt_s:0.172 data_s:0.198
INFO 2026-03-13 09:11:12 ot_train.py:423 step:30K smpl:62M ep:216K epch:461.56 loss:0.029 grdn:2.053 lr:1.0e-04 updt_s:0.158 data_s:0.120
INFO 2026-03-13 09:12:10 ot_train.py:423 step:31K smpl:63M ep:218K epch:464.59 loss:0.033 grdn:2.014 lr:1.0e-04 updt_s:0.124 data_s:0.164
INFO 2026-03-13 09:13:21 ot_train.py:423 step:31K smpl:63M ep:219K epch:467.63 loss:0.027 grdn:2.060 lr:1.0e-04 updt_s:0.232 data_s:0.121
INFO 2026-03-13 09:14:11 ot_train.py:423 step:31K smpl:63M ep:221K epch:470.66 loss:0.017 grdn:2.128 lr:1.0e-04 updt_s:0.151 data_s:0.098
INFO 2026-03-13 09:15:21 ot_train.py:423 step:31K smpl:64M ep:222K epch:473.70 loss:0.030 grdn:2.723 lr:1.0e-04 updt_s:0.199 data_s:0.154
INFO 2026-03-13 09:16:21 ot_train.py:423 step:31K smpl:64M ep:224K epch:476.74 loss:0.025 grdn:2.619 lr:1.0e-04 updt_s:0.233 data_s:0.066
INFO 2026-03-13 09:17:09 ot_train.py:423 step:32K smpl:65M ep:225K epch:479.77 loss:0.022 grdn:2.632 lr:1.0e-04 updt_s:0.212 data_s:0.023
INFO 2026-03-13 09:18:29 ot_train.py:423 step:32K smpl:65M ep:226K epch:482.81 loss:0.022 grdn:2.431 lr:1.0e-04 updt_s:0.254 data_s:0.146
INFO 2026-03-13 09:19:22 ot_train.py:423 step:32K smpl:66M ep:228K epch:485.85 loss:0.032 grdn:2.861 lr:1.0e-04 updt_s:0.147 data_s:0.116
INFO 2026-03-13 09:20:23 ot_train.py:423 step:32K smpl:66M ep:229K epch:488.88 loss:0.040 grdn:2.451 lr:1.0e-04 updt_s:0.183 data_s:0.120
INFO 2026-03-13 09:21:31 ot_train.py:423 step:32K smpl:66M ep:231K epch:491.92 loss:0.029 grdn:1.963 lr:1.0e-04 updt_s:0.316 data_s:0.027
INFO 2026-03-13 09:22:21 ot_train.py:423 step:33K smpl:67M ep:232K epch:494.96 loss:0.031 grdn:2.532 lr:1.0e-04 updt_s:0.233 data_s:0.012
INFO 2026-03-13 09:23:34 ot_train.py:423 step:33K smpl:67M ep:234K epch:497.99 loss:0.031 grdn:2.130 lr:1.0e-04 updt_s:0.134 data_s:0.231
INFO 2026-03-13 09:24:30 ot_train.py:423 step:33K smpl:68M ep:235K epch:501.03 loss:0.033 grdn:2.075 lr:1.0e-04 updt_s:0.151 data_s:0.130
INFO 2026-03-13 09:25:14 ot_train.py:423 step:33K smpl:68M ep:236K epch:504.07 loss:0.038 grdn:2.201 lr:1.0e-04 updt_s:0.136 data_s:0.081
INFO 2026-03-13 09:26:38 ot_train.py:423 step:33K smpl:68M ep:238K epch:507.10 loss:0.027 grdn:2.278 lr:1.0e-04 updt_s:0.239 data_s:0.179
INFO 2026-03-13 09:27:28 ot_train.py:423 step:34K smpl:69M ep:239K epch:510.14 loss:0.032 grdn:2.644 lr:1.0e-04 updt_s:0.211 data_s:0.041
INFO 2026-03-13 09:28:37 ot_train.py:423 step:34K smpl:69M ep:241K epch:513.18 loss:0.029 grdn:2.527 lr:1.0e-04 updt_s:0.218 data_s:0.124
INFO 2026-03-13 09:29:41 ot_train.py:423 step:34K smpl:70M ep:242K epch:516.21 loss:0.038 grdn:2.158 lr:1.0e-04 updt_s:0.197 data_s:0.122
INFO 2026-03-13 09:30:29 ot_train.py:423 step:34K smpl:70M ep:244K epch:519.25 loss:0.028 grdn:2.513 lr:1.0e-04 updt_s:0.136 data_s:0.104
INFO 2026-03-13 09:31:46 ot_train.py:423 step:34K smpl:70M ep:245K epch:522.29 loss:0.029 grdn:2.171 lr:1.0e-04 updt_s:0.153 data_s:0.228
INFO 2026-03-13 09:32:41 ot_train.py:423 step:35K smpl:71M ep:246K epch:525.32 loss:0.029 grdn:2.556 lr:1.0e-04 updt_s:0.112 data_s:0.164
INFO 2026-03-13 09:33:35 ot_train.py:423 step:35K smpl:71M ep:248K epch:528.36 loss:0.031 grdn:2.642 lr:1.0e-04 updt_s:0.146 data_s:0.122
INFO 2026-03-13 09:34:52 ot_train.py:423 step:35K smpl:72M ep:249K epch:531.40 loss:0.031 grdn:2.904 lr:1.0e-04 updt_s:0.131 data_s:0.249
INFO 2026-03-13 09:35:41 ot_train.py:423 step:35K smpl:72M ep:251K epch:534.43 loss:0.037 grdn:2.471 lr:1.0e-04 updt_s:0.135 data_s:0.110
INFO 2026-03-13 09:36:50 ot_train.py:423 step:35K smpl:72M ep:252K epch:537.47 loss:0.040 grdn:2.931 lr:1.0e-04 updt_s:0.224 data_s:0.119
INFO 2026-03-13 09:37:52 ot_train.py:423 step:36K smpl:73M ep:253K epch:540.51 loss:0.029 grdn:2.868 lr:1.0e-04 updt_s:0.148 data_s:0.164
INFO 2026-03-13 09:38:40 ot_train.py:423 step:36K smpl:73M ep:255K epch:543.54 loss:0.021 grdn:2.147 lr:1.0e-04 updt_s:0.126 data_s:0.111
INFO 2026-03-13 09:39:59 ot_train.py:423 step:36K smpl:74M ep:256K epch:546.58 loss:0.018 grdn:1.929 lr:1.0e-04 updt_s:0.127 data_s:0.265
INFO 2026-03-13 09:40:52 ot_train.py:423 step:36K smpl:74M ep:258K epch:549.62 loss:0.020 grdn:1.814 lr:1.0e-04 updt_s:0.133 data_s:0.133
INFO 2026-03-13 09:41:50 ot_train.py:423 step:36K smpl:75M ep:259K epch:552.65 loss:0.017 grdn:1.830 lr:1.0e-04 updt_s:0.183 data_s:0.106
INFO 2026-03-13 09:43:02 ot_train.py:423 step:37K smpl:75M ep:261K epch:555.69 loss:0.024 grdn:1.911 lr:1.0e-04 updt_s:0.334 data_s:0.024
INFO 2026-03-13 09:43:53 ot_train.py:423 step:37K smpl:75M ep:262K epch:558.72 loss:0.023 grdn:2.110 lr:1.0e-04 updt_s:0.241 data_s:0.011
INFO 2026-03-13 09:45:06 ot_train.py:423 step:37K smpl:76M ep:263K epch:561.76 loss:0.026 grdn:2.521 lr:1.0e-04 updt_s:0.264 data_s:0.100
INFO 2026-03-13 09:46:05 ot_train.py:423 step:37K smpl:76M ep:265K epch:564.80 loss:0.024 grdn:2.201 lr:1.0e-04 updt_s:0.140 data_s:0.154
INFO 2026-03-13 09:46:50 ot_train.py:423 step:37K smpl:77M ep:266K epch:567.83 loss:0.019 grdn:1.951 lr:1.0e-04 updt_s:0.147 data_s:0.079
INFO 2026-03-13 09:48:13 ot_train.py:423 step:38K smpl:77M ep:268K epch:570.87 loss:0.023 grdn:2.372 lr:1.0e-04 updt_s:0.155 data_s:0.259
INFO 2026-03-13 09:49:05 ot_train.py:423 step:38K smpl:77M ep:269K epch:573.91 loss:0.022 grdn:2.185 lr:1.0e-04 updt_s:0.117 data_s:0.139
INFO 2026-03-13 09:50:08 ot_train.py:423 step:38K smpl:78M ep:271K epch:576.94 loss:0.020 grdn:2.168 lr:1.0e-04 updt_s:0.147 data_s:0.168
INFO 2026-03-13 09:51:12 ot_train.py:423 step:38K smpl:78M ep:272K epch:579.98 loss:0.025 grdn:2.698 lr:1.0e-04 updt_s:0.218 data_s:0.102
INFO 2026-03-13 09:52:01 ot_train.py:423 step:38K smpl:79M ep:273K epch:583.02 loss:0.028 grdn:2.793 lr:1.0e-04 updt_s:0.176 data_s:0.067
INFO 2026-03-13 09:53:17 ot_train.py:423 step:39K smpl:79M ep:275K epch:586.05 loss:0.029 grdn:2.357 lr:1.0e-04 updt_s:0.126 data_s:0.252
INFO 2026-03-13 09:54:14 ot_train.py:423 step:39K smpl:79M ep:276K epch:589.09 loss:0.025 grdn:2.845 lr:1.0e-04 updt_s:0.105 data_s:0.180
INFO 2026-03-13 09:55:03 ot_train.py:423 step:39K smpl:80M ep:278K epch:592.13 loss:0.037 grdn:2.754 lr:1.0e-04 updt_s:0.163 data_s:0.078
INFO 2026-03-13 09:56:21 ot_train.py:423 step:39K smpl:80M ep:279K epch:595.16 loss:0.026 grdn:2.173 lr:1.0e-04 updt_s:0.288 data_s:0.105
INFO 2026-03-13 09:57:13 ot_train.py:423 step:39K smpl:81M ep:281K epch:598.20 loss:0.037 grdn:2.131 lr:1.0e-04 updt_s:0.173 data_s:0.082
INFO 2026-03-13 09:58:18 ot_train.py:423 step:40K smpl:81M ep:282K epch:601.24 loss:0.021 grdn:2.563 lr:1.0e-04 updt_s:0.147 data_s:0.178
INFO 2026-03-13 09:59:22 ot_train.py:423 step:40K smpl:82M ep:283K epch:604.27 loss:0.020 grdn:2.079 lr:1.0e-04 updt_s:0.288 data_s:0.032
INFO 2026-03-13 10:00:11 ot_train.py:423 step:40K smpl:82M ep:285K epch:607.31 loss:0.031 grdn:1.840 lr:1.0e-04 updt_s:0.232 data_s:0.011
INFO 2026-03-13 10:00:11 ot_train.py:443 Checkpoint policy after step 40000
[Avatar] Pushing checkpoint (step 40000) to avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632...

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INFO 2026-03-13 10:00:23 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632

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[Avatar] Pushed checkpoint (step 40000) OK
[Avatar] Tagged as 'step-40000'
INFO 2026-03-13 10:01:39 ot_train.py:423 step:40K smpl:82M ep:286K epch:610.35 loss:0.031 grdn:1.877 lr:1.0e-04 updt_s:0.290 data_s:0.072
INFO 2026-03-13 10:02:35 ot_train.py:423 step:40K smpl:83M ep:288K epch:613.38 loss:0.031 grdn:2.597 lr:1.0e-04 updt_s:0.259 data_s:0.021
INFO 2026-03-13 10:03:28 ot_train.py:423 step:41K smpl:83M ep:289K epch:616.42 loss:0.028 grdn:2.449 lr:1.0e-04 updt_s:0.201 data_s:0.065
INFO 2026-03-13 10:04:44 ot_train.py:423 step:41K smpl:84M ep:291K epch:619.46 loss:0.031 grdn:2.278 lr:1.0e-04 updt_s:0.186 data_s:0.191
INFO 2026-03-13 10:05:35 ot_train.py:423 step:41K smpl:84M ep:292K epch:622.49 loss:0.030 grdn:2.250 lr:1.0e-04 updt_s:0.110 data_s:0.142
INFO 2026-03-13 10:06:42 ot_train.py:423 step:41K smpl:84M ep:293K epch:625.53 loss:0.026 grdn:2.299 lr:1.0e-04 updt_s:0.142 data_s:0.192
INFO 2026-03-13 10:07:45 ot_train.py:423 step:41K smpl:85M ep:295K epch:628.57 loss:0.031 grdn:2.519 lr:1.0e-04 updt_s:0.290 data_s:0.025
INFO 2026-03-13 10:08:33 ot_train.py:423 step:42K smpl:85M ep:296K epch:631.60 loss:0.034 grdn:2.170 lr:1.0e-04 updt_s:0.216 data_s:0.022
INFO 2026-03-13 10:09:52 ot_train.py:423 step:42K smpl:86M ep:298K epch:634.64 loss:0.027 grdn:1.998 lr:1.0e-04 updt_s:0.306 data_s:0.086
INFO 2026-03-13 10:10:44 ot_train.py:423 step:42K smpl:86M ep:299K epch:637.68 loss:0.037 grdn:1.950 lr:1.0e-04 updt_s:0.251 data_s:0.011
INFO 2026-03-13 10:11:45 ot_train.py:423 step:42K smpl:86M ep:300K epch:640.71 loss:0.026 grdn:2.876 lr:1.0e-04 updt_s:0.163 data_s:0.137
INFO 2026-03-13 10:12:55 ot_train.py:423 step:42K smpl:87M ep:302K epch:643.75 loss:0.010 grdn:2.239 lr:1.0e-04 updt_s:0.274 data_s:0.079
INFO 2026-03-13 10:13:45 ot_train.py:423 step:43K smpl:87M ep:303K epch:646.78 loss:0.022 grdn:1.964 lr:1.0e-04 updt_s:0.235 data_s:0.012
INFO 2026-03-13 10:14:59 ot_train.py:423 step:43K smpl:88M ep:305K epch:649.82 loss:0.019 grdn:2.247 lr:1.0e-04 updt_s:0.209 data_s:0.157
INFO 2026-03-13 10:15:59 ot_train.py:423 step:43K smpl:88M ep:306K epch:652.86 loss:0.026 grdn:2.255 lr:1.0e-04 updt_s:0.113 data_s:0.189
INFO 2026-03-13 10:16:43 ot_train.py:423 step:43K smpl:88M ep:308K epch:655.89 loss:0.031 grdn:2.451 lr:1.0e-04 updt_s:0.134 data_s:0.084
INFO 2026-03-13 10:18:04 ot_train.py:423 step:43K smpl:89M ep:309K epch:658.93 loss:0.023 grdn:2.808 lr:1.0e-04 updt_s:0.181 data_s:0.223
INFO 2026-03-13 10:18:56 ot_train.py:423 step:44K smpl:89M ep:310K epch:661.97 loss:0.033 grdn:2.761 lr:1.0e-04 updt_s:0.170 data_s:0.089
INFO 2026-03-13 10:19:58 ot_train.py:423 step:44K smpl:90M ep:312K epch:665.00 loss:0.023 grdn:2.091 lr:1.0e-04 updt_s:0.195 data_s:0.113
INFO 2026-03-13 10:21:06 ot_train.py:423 step:44K smpl:90M ep:313K epch:668.04 loss:0.003 grdn:1.766 lr:1.0e-04 updt_s:0.194 data_s:0.141
INFO 2026-03-13 10:21:54 ot_train.py:423 step:44K smpl:91M ep:315K epch:671.08 loss:0.015 grdn:1.813 lr:1.0e-04 updt_s:0.116 data_s:0.125
INFO 2026-03-13 10:23:09 ot_train.py:423 step:44K smpl:91M ep:316K epch:674.11 loss:0.003 grdn:2.266 lr:1.0e-04 updt_s:0.229 data_s:0.143
INFO 2026-03-13 10:24:06 ot_train.py:423 step:45K smpl:91M ep:318K epch:677.15 loss:0.000 grdn:2.157 lr:1.0e-04 updt_s:0.272 data_s:0.012
INFO 2026-03-13 10:24:55 ot_train.py:423 step:45K smpl:92M ep:319K epch:680.19 loss:0.020 grdn:2.687 lr:1.0e-04 updt_s:0.188 data_s:0.055
INFO 2026-03-13 10:26:15 ot_train.py:423 step:45K smpl:92M ep:320K epch:683.22 loss:0.017 grdn:2.172 lr:1.0e-04 updt_s:0.348 data_s:0.053
INFO 2026-03-13 10:27:07 ot_train.py:423 step:45K smpl:93M ep:322K epch:686.26 loss:0.007 grdn:2.197 lr:1.0e-04 updt_s:0.246 data_s:0.012
INFO 2026-03-13 10:28:12 ot_train.py:423 step:45K smpl:93M ep:323K epch:689.30 loss:0.025 grdn:2.764 lr:1.0e-04 updt_s:0.220 data_s:0.108
INFO 2026-03-13 10:29:16 ot_train.py:423 step:46K smpl:93M ep:325K epch:692.33 loss:0.026 grdn:2.198 lr:1.0e-04 updt_s:0.275 data_s:0.043
INFO 2026-03-13 10:30:05 ot_train.py:423 step:46K smpl:94M ep:326K epch:695.37 loss:0.037 grdn:2.670 lr:1.0e-04 updt_s:0.163 data_s:0.078
INFO 2026-03-13 10:31:22 ot_train.py:423 step:46K smpl:94M ep:328K epch:698.41 loss:0.031 grdn:2.148 lr:1.0e-04 updt_s:0.287 data_s:0.100
INFO 2026-03-13 10:32:16 ot_train.py:423 step:46K smpl:95M ep:329K epch:701.44 loss:0.029 grdn:1.953 lr:1.0e-04 updt_s:0.258 data_s:0.012
INFO 2026-03-13 10:33:13 ot_train.py:423 step:46K smpl:95M ep:330K epch:704.48 loss:0.023 grdn:2.055 lr:1.0e-04 updt_s:0.209 data_s:0.073
INFO 2026-03-13 10:34:28 ot_train.py:423 step:47K smpl:95M ep:332K epch:707.52 loss:0.028 grdn:2.130 lr:1.0e-04 updt_s:0.312 data_s:0.066
INFO 2026-03-13 10:35:17 ot_train.py:423 step:47K smpl:96M ep:333K epch:710.55 loss:0.027 grdn:2.341 lr:1.0e-04 updt_s:0.229 data_s:0.011
INFO 2026-03-13 10:36:27 ot_train.py:423 step:47K smpl:96M ep:335K epch:713.59 loss:0.030 grdn:2.169 lr:1.0e-04 updt_s:0.207 data_s:0.145
INFO 2026-03-13 10:37:28 ot_train.py:423 step:47K smpl:97M ep:336K epch:716.63 loss:0.026 grdn:2.066 lr:1.0e-04 updt_s:0.265 data_s:0.037
INFO 2026-03-13 10:38:16 ot_train.py:423 step:47K smpl:97M ep:338K epch:719.66 loss:0.022 grdn:2.010 lr:1.0e-04 updt_s:0.226 data_s:0.012
INFO 2026-03-13 10:39:37 ot_train.py:423 step:48K smpl:97M ep:339K epch:722.70 loss:0.029 grdn:2.711 lr:1.0e-04 updt_s:0.218 data_s:0.185
INFO 2026-03-13 10:40:27 ot_train.py:423 step:48K smpl:98M ep:340K epch:725.74 loss:0.035 grdn:2.866 lr:1.0e-04 updt_s:0.237 data_s:0.012
INFO 2026-03-13 10:41:27 ot_train.py:423 step:48K smpl:98M ep:342K epch:728.77 loss:0.042 grdn:2.503 lr:1.0e-04 updt_s:0.155 data_s:0.146
INFO 2026-03-13 10:42:36 ot_train.py:423 step:48K smpl:99M ep:343K epch:731.81 loss:0.041 grdn:2.498 lr:1.0e-04 updt_s:0.185 data_s:0.156
INFO 2026-03-13 10:43:26 ot_train.py:423 step:48K smpl:99M ep:345K epch:734.84 loss:0.033 grdn:2.452 lr:1.0e-04 updt_s:0.130 data_s:0.120
INFO 2026-03-13 10:44:38 ot_train.py:423 step:49K smpl:100M ep:346K epch:737.88 loss:0.018 grdn:1.861 lr:1.0e-04 updt_s:0.136 data_s:0.221
INFO 2026-03-13 10:45:38 ot_train.py:423 step:49K smpl:100M ep:347K epch:740.92 loss:0.030 grdn:1.965 lr:1.0e-04 updt_s:0.203 data_s:0.095
INFO 2026-03-13 10:46:22 ot_train.py:423 step:49K smpl:100M ep:349K epch:743.95 loss:0.021 grdn:2.140 lr:1.0e-04 updt_s:0.138 data_s:0.084
INFO 2026-03-13 10:47:44 ot_train.py:423 step:49K smpl:101M ep:350K epch:746.99 loss:0.017 grdn:1.994 lr:1.0e-04 updt_s:0.161 data_s:0.245
INFO 2026-03-13 10:48:37 ot_train.py:423 step:49K smpl:101M ep:352K epch:750.03 loss:0.009 grdn:2.137 lr:1.0e-04 updt_s:0.127 data_s:0.135
INFO 2026-03-13 10:49:40 ot_train.py:423 step:50K smpl:102M ep:353K epch:753.06 loss:0.017 grdn:2.463 lr:1.0e-04 updt_s:0.125 data_s:0.189
INFO 2026-03-13 10:50:46 ot_train.py:423 step:50K smpl:102M ep:355K epch:756.10 loss:0.028 grdn:2.494 lr:1.0e-04 updt_s:0.313 data_s:0.020
INFO 2026-03-13 10:51:35 ot_train.py:423 step:50K smpl:102M ep:356K epch:759.14 loss:0.022 grdn:2.189 lr:1.0e-04 updt_s:0.229 data_s:0.012
INFO 2026-03-13 10:51:35 ot_train.py:443 Checkpoint policy after step 50000
[Avatar] Pushing checkpoint (step 50000) to avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632...

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INFO 2026-03-13 10:51:49 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632

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[Avatar] Pushed checkpoint (step 50000) OK
[Avatar] Tagged as 'step-50000'
INFO 2026-03-13 10:53:09 ot_train.py:423 step:50K smpl:103M ep:357K epch:762.17 loss:0.025 grdn:1.973 lr:1.0e-04 updt_s:0.229 data_s:0.136
INFO 2026-03-13 10:54:06 ot_train.py:423 step:50K smpl:103M ep:359K epch:765.21 loss:0.021 grdn:2.080 lr:1.0e-04 updt_s:0.251 data_s:0.032
INFO 2026-03-13 10:54:58 ot_train.py:423 step:51K smpl:104M ep:360K epch:768.25 loss:0.035 grdn:2.440 lr:1.0e-04 updt_s:0.208 data_s:0.053
INFO 2026-03-13 10:56:16 ot_train.py:423 step:51K smpl:104M ep:362K epch:771.28 loss:0.032 grdn:2.255 lr:1.0e-04 updt_s:0.213 data_s:0.173
INFO 2026-03-13 10:57:07 ot_train.py:423 step:51K smpl:104M ep:363K epch:774.32 loss:0.028 grdn:2.325 lr:1.0e-04 updt_s:0.116 data_s:0.138
INFO 2026-03-13 10:58:14 ot_train.py:423 step:51K smpl:105M ep:365K epch:777.36 loss:0.017 grdn:2.269 lr:1.0e-04 updt_s:0.180 data_s:0.157
INFO 2026-03-13 10:59:17 ot_train.py:423 step:51K smpl:105M ep:366K epch:780.39 loss:0.039 grdn:3.436 lr:1.0e-04 updt_s:0.172 data_s:0.142
INFO 2026-03-13 11:00:07 ot_train.py:423 step:52K smpl:106M ep:367K epch:783.43 loss:0.023 grdn:2.133 lr:1.0e-04 updt_s:0.116 data_s:0.129
INFO 2026-03-13 11:01:23 ot_train.py:423 step:52K smpl:106M ep:369K epch:786.47 loss:0.006 grdn:2.058 lr:1.0e-04 updt_s:0.146 data_s:0.233
INFO 2026-03-13 11:02:17 ot_train.py:423 step:52K smpl:106M ep:370K epch:789.50 loss:0.024 grdn:1.993 lr:1.0e-04 updt_s:0.165 data_s:0.104
INFO 2026-03-13 11:03:14 ot_train.py:423 step:52K smpl:107M ep:372K epch:792.54 loss:0.010 grdn:1.972 lr:1.0e-04 updt_s:0.116 data_s:0.168
INFO 2026-03-13 11:04:30 ot_train.py:423 step:52K smpl:107M ep:373K epch:795.58 loss:0.007 grdn:1.933 lr:1.0e-04 updt_s:0.106 data_s:0.273
INFO 2026-03-13 11:05:20 ot_train.py:423 step:53K smpl:108M ep:375K epch:798.61 loss:0.021 grdn:2.155 lr:1.0e-04 updt_s:0.111 data_s:0.135
INFO 2026-03-13 11:06:28 ot_train.py:423 step:53K smpl:108M ep:376K epch:801.65 loss:0.021 grdn:2.573 lr:1.0e-04 updt_s:0.175 data_s:0.168
INFO 2026-03-13 11:07:30 ot_train.py:423 step:53K smpl:109M ep:377K epch:804.69 loss:0.034 grdn:2.951 lr:1.0e-04 updt_s:0.291 data_s:0.016
INFO 2026-03-13 11:08:18 ot_train.py:423 step:53K smpl:109M ep:379K epch:807.72 loss:0.033 grdn:2.275 lr:1.0e-04 updt_s:0.157 data_s:0.080
INFO 2026-03-13 11:09:34 ot_train.py:423 step:53K smpl:109M ep:380K epch:810.76 loss:0.017 grdn:2.014 lr:1.0e-04 updt_s:0.213 data_s:0.168
INFO 2026-03-13 11:10:29 ot_train.py:423 step:54K smpl:110M ep:382K epch:813.79 loss:0.032 grdn:2.591 lr:1.0e-04 updt_s:0.243 data_s:0.031
INFO 2026-03-13 11:11:28 ot_train.py:423 step:54K smpl:110M ep:383K epch:816.83 loss:0.034 grdn:2.510 lr:1.0e-04 updt_s:0.184 data_s:0.111
INFO 2026-03-13 11:12:39 ot_train.py:423 step:54K smpl:111M ep:385K epch:819.87 loss:0.013 grdn:2.381 lr:1.0e-04 updt_s:0.132 data_s:0.222
INFO 2026-03-13 11:13:28 ot_train.py:423 step:54K smpl:111M ep:386K epch:822.90 loss:0.024 grdn:2.495 lr:1.0e-04 updt_s:0.121 data_s:0.123
INFO 2026-03-13 11:14:42 ot_train.py:423 step:54K smpl:111M ep:387K epch:825.94 loss:0.030 grdn:2.738 lr:1.0e-04 updt_s:0.140 data_s:0.224
INFO 2026-03-13 11:15:40 ot_train.py:423 step:55K smpl:112M ep:389K epch:828.98 loss:0.031 grdn:2.091 lr:1.0e-04 updt_s:0.249 data_s:0.043
INFO 2026-03-13 11:16:26 ot_train.py:423 step:55K smpl:112M ep:390K epch:832.01 loss:0.033 grdn:2.081 lr:1.0e-04 updt_s:0.152 data_s:0.076
INFO 2026-03-13 11:17:48 ot_train.py:423 step:55K smpl:113M ep:392K epch:835.05 loss:0.031 grdn:2.042 lr:1.0e-04 updt_s:0.108 data_s:0.303
INFO 2026-03-13 11:18:40 ot_train.py:423 step:55K smpl:113M ep:393K epch:838.09 loss:0.028 grdn:2.478 lr:1.0e-04 updt_s:0.162 data_s:0.094
INFO 2026-03-13 11:19:44 ot_train.py:423 step:55K smpl:113M ep:394K epch:841.12 loss:0.033 grdn:2.230 lr:1.0e-04 updt_s:0.156 data_s:0.165
INFO 2026-03-13 11:20:49 ot_train.py:423 step:56K smpl:114M ep:396K epch:844.16 loss:0.015 grdn:2.083 lr:1.0e-04 updt_s:0.138 data_s:0.185
INFO 2026-03-13 11:21:39 ot_train.py:423 step:56K smpl:114M ep:397K epch:847.20 loss:0.022 grdn:1.866 lr:1.0e-04 updt_s:0.109 data_s:0.138
INFO 2026-03-13 11:22:55 ot_train.py:423 step:56K smpl:115M ep:399K epch:850.23 loss:0.012 grdn:1.833 lr:1.0e-04 updt_s:0.283 data_s:0.098
INFO 2026-03-13 11:23:50 ot_train.py:423 step:56K smpl:115M ep:400K epch:853.27 loss:0.029 grdn:2.183 lr:1.0e-04 updt_s:0.265 data_s:0.012
INFO 2026-03-13 11:24:42 ot_train.py:423 step:56K smpl:116M ep:402K epch:856.31 loss:0.027 grdn:2.217 lr:1.0e-04 updt_s:0.206 data_s:0.053
INFO 2026-03-13 11:26:01 ot_train.py:423 step:57K smpl:116M ep:403K epch:859.34 loss:0.034 grdn:2.115 lr:1.0e-04 updt_s:0.235 data_s:0.155
INFO 2026-03-13 11:26:52 ot_train.py:423 step:57K smpl:116M ep:404K epch:862.38 loss:0.035 grdn:1.980 lr:1.0e-04 updt_s:0.241 data_s:0.012
INFO 2026-03-13 11:27:59 ot_train.py:423 step:57K smpl:117M ep:406K epch:865.42 loss:0.032 grdn:2.890 lr:1.0e-04 updt_s:0.164 data_s:0.173
INFO 2026-03-13 11:29:03 ot_train.py:423 step:57K smpl:117M ep:407K epch:868.45 loss:0.020 grdn:2.185 lr:1.0e-04 updt_s:0.113 data_s:0.205
INFO 2026-03-13 11:29:51 ot_train.py:423 step:57K smpl:118M ep:409K epch:871.49 loss:0.025 grdn:1.891 lr:1.0e-04 updt_s:0.122 data_s:0.115
INFO 2026-03-13 11:31:08 ot_train.py:423 step:58K smpl:118M ep:410K epch:874.53 loss:0.028 grdn:2.020 lr:1.0e-04 updt_s:0.243 data_s:0.144
INFO 2026-03-13 11:32:03 ot_train.py:423 step:58K smpl:118M ep:412K epch:877.56 loss:0.018 grdn:2.154 lr:1.0e-04 updt_s:0.262 data_s:0.011
INFO 2026-03-13 11:32:57 ot_train.py:423 step:58K smpl:119M ep:413K epch:880.60 loss:0.010 grdn:1.984 lr:1.0e-04 updt_s:0.188 data_s:0.082
INFO 2026-03-13 11:34:10 ot_train.py:423 step:58K smpl:119M ep:414K epch:883.64 loss:0.018 grdn:2.335 lr:1.0e-04 updt_s:0.177 data_s:0.186
INFO 2026-03-13 11:35:00 ot_train.py:423 step:58K smpl:120M ep:416K epch:886.67 loss:0.019 grdn:2.563 lr:1.0e-04 updt_s:0.119 data_s:0.130
INFO 2026-03-13 11:36:09 ot_train.py:423 step:59K smpl:120M ep:417K epch:889.71 loss:0.018 grdn:2.256 lr:1.0e-04 updt_s:0.182 data_s:0.162
INFO 2026-03-13 11:37:10 ot_train.py:423 step:59K smpl:120M ep:419K epch:892.75 loss:0.039 grdn:3.195 lr:1.0e-04 updt_s:0.290 data_s:0.016
INFO 2026-03-13 11:37:57 ot_train.py:423 step:59K smpl:121M ep:420K epch:895.78 loss:0.027 grdn:2.822 lr:1.0e-04 updt_s:0.181 data_s:0.049
INFO 2026-03-13 11:39:17 ot_train.py:423 step:59K smpl:121M ep:422K epch:898.82 loss:0.023 grdn:2.255 lr:1.0e-04 updt_s:0.111 data_s:0.289
INFO 2026-03-13 11:40:09 ot_train.py:423 step:59K smpl:122M ep:423K epch:901.85 loss:0.026 grdn:2.100 lr:1.0e-04 updt_s:0.188 data_s:0.074
INFO 2026-03-13 11:41:12 ot_train.py:423 step:60K smpl:122M ep:424K epch:904.89 loss:0.030 grdn:2.214 lr:1.0e-04 updt_s:0.226 data_s:0.084
INFO 2026-03-13 11:42:20 ot_train.py:423 step:60K smpl:122M ep:426K epch:907.93 loss:0.016 grdn:2.453 lr:1.0e-04 updt_s:0.320 data_s:0.019
INFO 2026-03-13 11:43:09 ot_train.py:423 step:60K smpl:123M ep:427K epch:910.96 loss:0.025 grdn:2.289 lr:1.0e-04 updt_s:0.204 data_s:0.043
INFO 2026-03-13 11:43:09 ot_train.py:443 Checkpoint policy after step 60000
[Avatar] Pushing checkpoint (step 60000) to avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632...

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INFO 2026-03-13 11:43:22 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632

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[Avatar] Pushed checkpoint (step 60000) OK
[Avatar] Tagged as 'step-60000'
INFO 2026-03-13 11:44:38 ot_train.py:423 step:60K smpl:123M ep:429K epch:914.00 loss:0.014 grdn:1.906 lr:1.0e-04 updt_s:0.247 data_s:0.116
INFO 2026-03-13 11:45:34 ot_train.py:423 step:60K smpl:124M ep:430K epch:917.04 loss:0.020 grdn:2.059 lr:1.0e-04 updt_s:0.267 data_s:0.011
INFO 2026-03-13 11:46:18 ot_train.py:423 step:61K smpl:124M ep:432K epch:920.07 loss:0.026 grdn:2.480 lr:1.0e-04 updt_s:0.210 data_s:0.011
INFO 2026-03-13 11:47:41 ot_train.py:423 step:61K smpl:125M ep:433K epch:923.11 loss:0.026 grdn:2.371 lr:1.0e-04 updt_s:0.329 data_s:0.085
INFO 2026-03-13 11:48:33 ot_train.py:423 step:61K smpl:125M ep:434K epch:926.15 loss:0.022 grdn:2.057 lr:1.0e-04 updt_s:0.247 data_s:0.012
INFO 2026-03-13 11:49:38 ot_train.py:423 step:61K smpl:125M ep:436K epch:929.18 loss:0.024 grdn:2.060 lr:1.0e-04 updt_s:0.182 data_s:0.143
INFO 2026-03-13 11:50:42 ot_train.py:423 step:61K smpl:126M ep:437K epch:932.22 loss:0.013 grdn:2.666 lr:1.0e-04 updt_s:0.278 data_s:0.042
INFO 2026-03-13 11:51:32 ot_train.py:423 step:62K smpl:126M ep:439K epch:935.26 loss:0.022 grdn:2.539 lr:1.0e-04 updt_s:0.235 data_s:0.012
INFO 2026-03-13 11:52:47 ot_train.py:423 step:62K smpl:127M ep:440K epch:938.29 loss:0.018 grdn:2.595 lr:1.0e-04 updt_s:0.203 data_s:0.168
INFO 2026-03-13 11:53:43 ot_train.py:423 step:62K smpl:127M ep:441K epch:941.33 loss:0.025 grdn:2.106 lr:1.0e-04 updt_s:0.237 data_s:0.043
INFO 2026-03-13 11:54:34 ot_train.py:423 step:62K smpl:127M ep:443K epch:944.37 loss:0.011 grdn:1.838 lr:1.0e-04 updt_s:0.205 data_s:0.052
INFO 2026-03-13 11:55:52 ot_train.py:423 step:62K smpl:128M ep:444K epch:947.40 loss:0.010 grdn:2.011 lr:1.0e-04 updt_s:0.308 data_s:0.080
INFO 2026-03-13 11:56:42 ot_train.py:423 step:63K smpl:128M ep:446K epch:950.44 loss:0.012 grdn:2.095 lr:1.0e-04 updt_s:0.234 data_s:0.014
INFO 2026-03-13 11:57:49 ot_train.py:423 step:63K smpl:129M ep:447K epch:953.48 loss:0.013 grdn:1.852 lr:1.0e-04 updt_s:0.172 data_s:0.162
INFO 2026-03-13 11:58:51 ot_train.py:423 step:63K smpl:129M ep:449K epch:956.51 loss:0.009 grdn:2.424 lr:1.0e-04 updt_s:0.297 data_s:0.014
INFO 2026-03-13 11:59:39 ot_train.py:423 step:63K smpl:129M ep:450K epch:959.55 loss:0.009 grdn:2.002 lr:1.0e-04 updt_s:0.224 data_s:0.013
INFO 2026-03-13 12:00:56 ot_train.py:423 step:63K smpl:130M ep:451K epch:962.59 loss:0.023 grdn:2.102 lr:1.0e-04 updt_s:0.243 data_s:0.144
INFO 2026-03-13 12:01:49 ot_train.py:423 step:64K smpl:130M ep:453K epch:965.62 loss:0.025 grdn:2.681 lr:1.0e-04 updt_s:0.214 data_s:0.051
INFO 2026-03-13 12:02:48 ot_train.py:423 step:64K smpl:131M ep:454K epch:968.66 loss:0.027 grdn:2.455 lr:1.0e-04 updt_s:0.200 data_s:0.092
INFO 2026-03-13 12:03:58 ot_train.py:423 step:64K smpl:131M ep:456K epch:971.70 loss:0.039 grdn:3.256 lr:1.0e-04 updt_s:0.290 data_s:0.061
INFO 2026-03-13 12:04:48 ot_train.py:423 step:64K smpl:131M ep:457K epch:974.73 loss:0.033 grdn:2.522 lr:1.0e-04 updt_s:0.232 data_s:0.012
INFO 2026-03-13 12:06:02 ot_train.py:423 step:64K smpl:132M ep:459K epch:977.77 loss:0.027 grdn:2.498 lr:1.0e-04 updt_s:0.296 data_s:0.073
INFO 2026-03-13 12:07:00 ot_train.py:423 step:65K smpl:132M ep:460K epch:980.81 loss:0.031 grdn:2.065 lr:1.0e-04 updt_s:0.282 data_s:0.012
INFO 2026-03-13 12:07:47 ot_train.py:423 step:65K smpl:133M ep:461K epch:983.84 loss:0.017 grdn:1.734 lr:1.0e-04 updt_s:0.217 data_s:0.012
INFO 2026-03-13 12:09:07 ot_train.py:423 step:65K smpl:133M ep:463K epch:986.88 loss:0.015 grdn:1.907 lr:1.0e-04 updt_s:0.181 data_s:0.218
INFO 2026-03-13 12:09:59 ot_train.py:423 step:65K smpl:134M ep:464K epch:989.91 loss:0.014 grdn:2.042 lr:1.0e-04 updt_s:0.245 data_s:0.016
INFO 2026-03-13 12:11:01 ot_train.py:423 step:65K smpl:134M ep:466K epch:992.95 loss:0.032 grdn:2.075 lr:1.0e-04 updt_s:0.196 data_s:0.113
INFO 2026-03-13 12:12:07 ot_train.py:423 step:66K smpl:134M ep:467K epch:995.99 loss:0.041 grdn:2.230 lr:1.0e-04 updt_s:0.308 data_s:0.024
INFO 2026-03-13 12:12:58 ot_train.py:423 step:66K smpl:135M ep:469K epch:999.02 loss:0.037 grdn:2.367 lr:1.0e-04 updt_s:0.240 data_s:0.011
INFO 2026-03-13 12:14:10 ot_train.py:423 step:66K smpl:135M ep:470K epch:1002.06 loss:0.017 grdn:2.115 lr:1.0e-04 updt_s:0.258 data_s:0.102
INFO 2026-03-13 12:15:09 ot_train.py:423 step:66K smpl:136M ep:471K epch:1005.10 loss:0.047 grdn:3.852 lr:1.0e-04 updt_s:0.280 data_s:0.013
INFO 2026-03-13 12:15:52 ot_train.py:423 step:66K smpl:136M ep:473K epch:1008.13 loss:0.029 grdn:2.190 lr:1.0e-04 updt_s:0.199 data_s:0.013
INFO 2026-03-13 12:17:15 ot_train.py:423 step:67K smpl:136M ep:474K epch:1011.17 loss:0.007 grdn:1.873 lr:1.0e-04 updt_s:0.226 data_s:0.190
INFO 2026-03-13 12:18:07 ot_train.py:423 step:67K smpl:137M ep:476K epch:1014.21 loss:0.016 grdn:1.771 lr:1.0e-04 updt_s:0.216 data_s:0.042
INFO 2026-03-13 12:19:10 ot_train.py:423 step:67K smpl:137M ep:477K epch:1017.24 loss:0.032 grdn:1.975 lr:1.0e-04 updt_s:0.183 data_s:0.131
INFO 2026-03-13 12:20:14 ot_train.py:423 step:67K smpl:138M ep:479K epch:1020.28 loss:0.023 grdn:2.031 lr:1.0e-04 updt_s:0.221 data_s:0.100
INFO 2026-03-13 12:21:04 ot_train.py:423 step:67K smpl:138M ep:480K epch:1023.32 loss:0.024 grdn:2.183 lr:1.0e-04 updt_s:0.236 data_s:0.012
INFO 2026-03-13 12:22:21 ot_train.py:423 step:68K smpl:138M ep:481K epch:1026.35 loss:0.025 grdn:2.438 lr:1.0e-04 updt_s:0.272 data_s:0.109
INFO 2026-03-13 12:23:15 ot_train.py:423 step:68K smpl:139M ep:483K epch:1029.39 loss:0.034 grdn:2.372 lr:1.0e-04 updt_s:0.262 data_s:0.011
INFO 2026-03-13 12:24:10 ot_train.py:423 step:68K smpl:139M ep:484K epch:1032.43 loss:0.032 grdn:2.083 lr:1.0e-04 updt_s:0.205 data_s:0.065
INFO 2026-03-13 12:25:22 ot_train.py:423 step:68K smpl:140M ep:486K epch:1035.46 loss:0.042 grdn:2.473 lr:1.0e-04 updt_s:0.281 data_s:0.079
INFO 2026-03-13 12:26:14 ot_train.py:423 step:68K smpl:140M ep:487K epch:1038.50 loss:0.029 grdn:2.982 lr:1.0e-04 updt_s:0.247 data_s:0.012
INFO 2026-03-13 12:27:22 ot_train.py:423 step:69K smpl:140M ep:488K epch:1041.54 loss:0.040 grdn:2.420 lr:1.0e-04 updt_s:0.222 data_s:0.118
INFO 2026-03-13 12:28:23 ot_train.py:423 step:69K smpl:141M ep:490K epch:1044.57 loss:0.025 grdn:2.474 lr:1.0e-04 updt_s:0.275 data_s:0.029
INFO 2026-03-13 12:29:10 ot_train.py:423 step:69K smpl:141M ep:491K epch:1047.61 loss:0.027 grdn:1.922 lr:1.0e-04 updt_s:0.224 data_s:0.012
INFO 2026-03-13 12:30:27 ot_train.py:423 step:69K smpl:142M ep:493K epch:1050.65 loss:0.032 grdn:3.035 lr:1.0e-04 updt_s:0.289 data_s:0.095
INFO 2026-03-13 12:31:20 ot_train.py:423 step:69K smpl:142M ep:494K epch:1053.68 loss:0.022 grdn:2.477 lr:1.0e-04 updt_s:0.251 data_s:0.012
INFO 2026-03-13 12:32:18 ot_train.py:423 step:70K smpl:143M ep:496K epch:1056.72 loss:0.016 grdn:1.916 lr:1.0e-04 updt_s:0.183 data_s:0.102
INFO 2026-03-13 12:33:30 ot_train.py:423 step:70K smpl:143M ep:497K epch:1059.76 loss:0.014 grdn:1.908 lr:1.0e-04 updt_s:0.250 data_s:0.110
INFO 2026-03-13 12:34:18 ot_train.py:423 step:70K smpl:143M ep:498K epch:1062.79 loss:0.018 grdn:2.064 lr:1.0e-04 updt_s:0.204 data_s:0.037
INFO 2026-03-13 12:34:18 ot_train.py:443 Checkpoint policy after step 70000
[Avatar] Pushing checkpoint (step 70000) to avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632...

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INFO 2026-03-13 12:34:32 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632

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[Avatar] Pushed checkpoint (step 70000) OK
[Avatar] Tagged as 'step-70000'
INFO 2026-03-13 12:35:43 ot_train.py:423 step:70K smpl:144M ep:500K epch:1065.83 loss:0.032 grdn:2.279 lr:1.0e-04 updt_s:0.138 data_s:0.197
INFO 2026-03-13 12:36:43 ot_train.py:423 step:70K smpl:144M ep:501K epch:1068.87 loss:0.021 grdn:2.220 lr:1.0e-04 updt_s:0.280 data_s:0.019
INFO 2026-03-13 12:37:29 ot_train.py:423 step:71K smpl:145M ep:503K epch:1071.90 loss:0.029 grdn:2.936 lr:1.0e-04 updt_s:0.141 data_s:0.089
INFO 2026-03-13 12:38:47 ot_train.py:423 step:71K smpl:145M ep:504K epch:1074.94 loss:0.034 grdn:2.785 lr:1.0e-04 updt_s:0.204 data_s:0.187
INFO 2026-03-13 12:39:41 ot_train.py:423 step:71K smpl:145M ep:506K epch:1077.97 loss:0.041 grdn:2.322 lr:1.0e-04 updt_s:0.209 data_s:0.058
INFO 2026-03-13 12:40:42 ot_train.py:423 step:71K smpl:146M ep:507K epch:1081.01 loss:0.022 grdn:1.976 lr:1.0e-04 updt_s:0.179 data_s:0.124
INFO 2026-03-13 12:41:50 ot_train.py:423 step:71K smpl:146M ep:508K epch:1084.05 loss:0.028 grdn:1.929 lr:1.0e-04 updt_s:0.245 data_s:0.095
INFO 2026-03-13 12:42:39 ot_train.py:423 step:72K smpl:147M ep:510K epch:1087.08 loss:0.014 grdn:2.373 lr:1.0e-04 updt_s:0.114 data_s:0.128
INFO 2026-03-13 12:43:53 ot_train.py:423 step:72K smpl:147M ep:511K epch:1090.12 loss:0.029 grdn:2.151 lr:1.0e-04 updt_s:0.228 data_s:0.144
INFO 2026-03-13 12:44:51 ot_train.py:423 step:72K smpl:147M ep:513K epch:1093.16 loss:0.023 grdn:2.080 lr:1.0e-04 updt_s:0.115 data_s:0.171
INFO 2026-03-13 12:45:40 ot_train.py:423 step:72K smpl:148M ep:514K epch:1096.19 loss:0.029 grdn:2.201 lr:1.0e-04 updt_s:0.116 data_s:0.128
INFO 2026-03-13 12:47:00 ot_train.py:423 step:72K smpl:148M ep:516K epch:1099.23 loss:0.028 grdn:2.317 lr:1.0e-04 updt_s:0.137 data_s:0.264
INFO 2026-03-13 12:47:51 ot_train.py:423 step:73K smpl:149M ep:517K epch:1102.27 loss:0.017 grdn:1.992 lr:1.0e-04 updt_s:0.106 data_s:0.145
INFO 2026-03-13 12:48:57 ot_train.py:423 step:73K smpl:149M ep:518K epch:1105.30 loss:0.016 grdn:2.085 lr:1.0e-04 updt_s:0.111 data_s:0.221
INFO 2026-03-13 12:50:00 ot_train.py:423 step:73K smpl:150M ep:520K epch:1108.34 loss:0.023 grdn:3.106 lr:1.0e-04 updt_s:0.213 data_s:0.098
INFO 2026-03-13 12:50:48 ot_train.py:423 step:73K smpl:150M ep:521K epch:1111.38 loss:0.021 grdn:2.804 lr:1.0e-04 updt_s:0.150 data_s:0.092
INFO 2026-03-13 12:52:06 ot_train.py:423 step:73K smpl:150M ep:523K epch:1114.41 loss:0.031 grdn:2.349 lr:1.0e-04 updt_s:0.292 data_s:0.094
INFO 2026-03-13 12:53:01 ot_train.py:423 step:74K smpl:151M ep:524K epch:1117.45 loss:-0.000 grdn:1.971 lr:1.0e-04 updt_s:0.262 data_s:0.011
INFO 2026-03-13 12:53:53 ot_train.py:423 step:74K smpl:151M ep:526K epch:1120.49 loss:-0.001 grdn:1.923 lr:1.0e-04 updt_s:0.192 data_s:0.070
INFO 2026-03-13 12:55:08 ot_train.py:423 step:74K smpl:152M ep:527K epch:1123.52 loss:0.013 grdn:1.971 lr:1.0e-04 updt_s:0.137 data_s:0.235
INFO 2026-03-13 12:55:58 ot_train.py:423 step:74K smpl:152M ep:528K epch:1126.56 loss:0.008 grdn:1.799 lr:1.0e-04 updt_s:0.118 data_s:0.130
INFO 2026-03-13 12:57:08 ot_train.py:423 step:74K smpl:152M ep:530K epch:1129.60 loss:0.000 grdn:1.809 lr:1.0e-04 updt_s:0.110 data_s:0.236
INFO 2026-03-13 12:58:09 ot_train.py:423 step:75K smpl:153M ep:531K epch:1132.63 loss:0.014 grdn:2.094 lr:1.0e-04 updt_s:0.104 data_s:0.202
INFO 2026-03-13 12:58:56 ot_train.py:423 step:75K smpl:153M ep:533K epch:1135.67 loss:0.015 grdn:1.942 lr:1.0e-04 updt_s:0.120 data_s:0.114
INFO 2026-03-13 13:00:15 ot_train.py:423 step:75K smpl:154M ep:534K epch:1138.71 loss:0.012 grdn:2.110 lr:1.0e-04 updt_s:0.221 data_s:0.171
INFO 2026-03-13 13:01:10 ot_train.py:423 step:75K smpl:154M ep:535K epch:1141.74 loss:0.022 grdn:2.344 lr:1.0e-04 updt_s:0.218 data_s:0.055
INFO 2026-03-13 13:02:06 ot_train.py:423 step:75K smpl:154M ep:537K epch:1144.78 loss:0.031 grdn:2.657 lr:1.0e-04 updt_s:0.138 data_s:0.143
INFO 2026-03-13 13:03:16 ot_train.py:423 step:76K smpl:155M ep:538K epch:1147.82 loss:0.021 grdn:2.177 lr:1.0e-04 updt_s:0.121 data_s:0.230
INFO 2026-03-13 13:04:06 ot_train.py:423 step:76K smpl:155M ep:540K epch:1150.85 loss:0.021 grdn:1.968 lr:1.0e-04 updt_s:0.120 data_s:0.124
INFO 2026-03-13 13:05:17 ot_train.py:423 step:76K smpl:156M ep:541K epch:1153.89 loss:0.027 grdn:1.792 lr:1.0e-04 updt_s:0.203 data_s:0.150
INFO 2026-03-13 13:06:16 ot_train.py:423 step:76K smpl:156M ep:543K epch:1156.92 loss:0.035 grdn:2.834 lr:1.0e-04 updt_s:0.250 data_s:0.045
INFO 2026-03-13 13:07:02 ot_train.py:423 step:76K smpl:156M ep:544K epch:1159.96 loss:0.040 grdn:2.965 lr:1.0e-04 updt_s:0.142 data_s:0.085
INFO 2026-03-13 13:08:24 ot_train.py:423 step:77K smpl:157M ep:545K epch:1163.00 loss:0.017 grdn:2.223 lr:1.0e-04 updt_s:0.127 data_s:0.285
INFO 2026-03-13 13:09:15 ot_train.py:423 step:77K smpl:157M ep:547K epch:1166.03 loss:0.013 grdn:1.979 lr:1.0e-04 updt_s:0.113 data_s:0.139
INFO 2026-03-13 13:10:16 ot_train.py:423 step:77K smpl:158M ep:548K epch:1169.07 loss:0.012 grdn:1.925 lr:1.0e-04 updt_s:0.134 data_s:0.170
INFO 2026-03-13 13:11:22 ot_train.py:423 step:77K smpl:158M ep:550K epch:1172.11 loss:0.010 grdn:1.916 lr:1.0e-04 updt_s:0.253 data_s:0.073
INFO 2026-03-13 13:12:10 ot_train.py:423 step:77K smpl:159M ep:551K epch:1175.14 loss:0.028 grdn:2.017 lr:1.0e-04 updt_s:0.222 data_s:0.019
INFO 2026-03-13 13:13:25 ot_train.py:423 step:78K smpl:159M ep:553K epch:1178.18 loss:0.008 grdn:2.073 lr:1.0e-04 updt_s:0.161 data_s:0.213
INFO 2026-03-13 13:14:22 ot_train.py:423 step:78K smpl:159M ep:554K epch:1181.22 loss:0.013 grdn:2.136 lr:1.0e-04 updt_s:0.120 data_s:0.164
INFO 2026-03-13 13:15:10 ot_train.py:423 step:78K smpl:160M ep:555K epch:1184.25 loss:0.019 grdn:2.000 lr:1.0e-04 updt_s:0.160 data_s:0.077
INFO 2026-03-13 13:16:29 ot_train.py:423 step:78K smpl:160M ep:557K epch:1187.29 loss:0.013 grdn:1.954 lr:1.0e-04 updt_s:0.260 data_s:0.132
INFO 2026-03-13 13:17:18 ot_train.py:423 step:78K smpl:161M ep:558K epch:1190.33 loss:0.015 grdn:2.169 lr:1.0e-04 updt_s:0.190 data_s:0.058
INFO 2026-03-13 13:18:24 ot_train.py:423 step:79K smpl:161M ep:560K epch:1193.36 loss:0.022 grdn:1.858 lr:1.0e-04 updt_s:0.168 data_s:0.158
INFO 2026-03-13 13:19:27 ot_train.py:423 step:79K smpl:161M ep:561K epch:1196.40 loss:0.014 grdn:2.087 lr:1.0e-04 updt_s:0.301 data_s:0.017
INFO 2026-03-13 13:20:16 ot_train.py:423 step:79K smpl:162M ep:563K epch:1199.44 loss:0.011 grdn:1.886 lr:1.0e-04 updt_s:0.192 data_s:0.049
INFO 2026-03-13 13:21:34 ot_train.py:423 step:79K smpl:162M ep:564K epch:1202.47 loss:0.028 grdn:1.864 lr:1.0e-04 updt_s:0.118 data_s:0.270
INFO 2026-03-13 13:22:28 ot_train.py:423 step:79K smpl:163M ep:565K epch:1205.51 loss:0.035 grdn:4.052 lr:1.0e-04 updt_s:0.147 data_s:0.121
INFO 2026-03-13 13:23:22 ot_train.py:423 step:80K smpl:163M ep:567K epch:1208.55 loss:0.024 grdn:2.491 lr:1.0e-04 updt_s:0.110 data_s:0.160
INFO 2026-03-13 13:24:38 ot_train.py:423 step:80K smpl:163M ep:568K epch:1211.58 loss:0.022 grdn:2.043 lr:1.0e-04 updt_s:0.122 data_s:0.259
INFO 2026-03-13 13:25:28 ot_train.py:423 step:80K smpl:164M ep:570K epch:1214.62 loss:0.012 grdn:2.004 lr:1.0e-04 updt_s:0.206 data_s:0.042
INFO 2026-03-13 13:25:28 ot_train.py:443 Checkpoint policy after step 80000
[Avatar] Pushing checkpoint (step 80000) to avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632...

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INFO 2026-03-13 13:25:41 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632

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[Avatar] Pushed checkpoint (step 80000) OK
[Avatar] Tagged as 'step-80000'
INFO 2026-03-13 13:26:53 ot_train.py:423 step:80K smpl:164M ep:571K epch:1217.66 loss:0.007 grdn:1.997 lr:1.0e-04 updt_s:0.145 data_s:0.195
INFO 2026-03-13 13:27:54 ot_train.py:423 step:80K smpl:165M ep:573K epch:1220.69 loss:0.012 grdn:2.031 lr:1.0e-04 updt_s:0.166 data_s:0.136
INFO 2026-03-13 13:28:42 ot_train.py:423 step:81K smpl:165M ep:574K epch:1223.73 loss:0.009 grdn:2.176 lr:1.0e-04 updt_s:0.129 data_s:0.111
INFO 2026-03-13 13:30:00 ot_train.py:423 step:81K smpl:165M ep:575K epch:1226.77 loss:0.011 grdn:2.023 lr:1.0e-04 updt_s:0.241 data_s:0.149
INFO 2026-03-13 13:30:52 ot_train.py:423 step:81K smpl:166M ep:577K epch:1229.80 loss:0.019 grdn:2.436 lr:1.0e-04 updt_s:0.225 data_s:0.034
INFO 2026-03-13 13:31:53 ot_train.py:423 step:81K smpl:166M ep:578K epch:1232.84 loss:0.034 grdn:2.081 lr:1.0e-04 updt_s:0.158 data_s:0.146
INFO 2026-03-13 13:33:05 ot_train.py:423 step:81K smpl:167M ep:580K epch:1235.88 loss:0.014 grdn:1.812 lr:1.0e-04 updt_s:0.101 data_s:0.254
INFO 2026-03-13 13:33:53 ot_train.py:423 step:82K smpl:167M ep:581K epch:1238.91 loss:0.018 grdn:1.820 lr:1.0e-04 updt_s:0.113 data_s:0.127
INFO 2026-03-13 13:35:05 ot_train.py:423 step:82K smpl:168M ep:582K epch:1241.95 loss:0.021 grdn:2.379 lr:1.0e-04 updt_s:0.200 data_s:0.158
INFO 2026-03-13 13:36:02 ot_train.py:423 step:82K smpl:168M ep:584K epch:1244.98 loss:0.033 grdn:2.589 lr:1.0e-04 updt_s:0.178 data_s:0.107
INFO 2026-03-13 13:36:49 ot_train.py:423 step:82K smpl:168M ep:585K epch:1248.02 loss:0.019 grdn:2.049 lr:1.0e-04 updt_s:0.125 data_s:0.107
INFO 2026-03-13 13:38:09 ot_train.py:423 step:82K smpl:169M ep:587K epch:1251.06 loss:0.025 grdn:1.860 lr:1.0e-04 updt_s:0.171 data_s:0.231
INFO 2026-03-13 13:39:01 ot_train.py:423 step:83K smpl:169M ep:588K epch:1254.09 loss:0.010 grdn:1.736 lr:1.0e-04 updt_s:0.121 data_s:0.140
INFO 2026-03-13 13:40:05 ot_train.py:423 step:83K smpl:170M ep:590K epch:1257.13 loss:0.016 grdn:1.947 lr:1.0e-04 updt_s:0.175 data_s:0.143
INFO 2026-03-13 13:41:12 ot_train.py:423 step:83K smpl:170M ep:591K epch:1260.17 loss:0.011 grdn:2.623 lr:1.0e-04 updt_s:0.179 data_s:0.152
INFO 2026-03-13 13:42:00 ot_train.py:423 step:83K smpl:170M ep:592K epch:1263.20 loss:0.019 grdn:2.354 lr:1.0e-04 updt_s:0.129 data_s:0.113
INFO 2026-03-13 13:43:14 ot_train.py:423 step:83K smpl:171M ep:594K epch:1266.24 loss:0.009 grdn:1.950 lr:1.0e-04 updt_s:0.192 data_s:0.177
INFO 2026-03-13 13:44:10 ot_train.py:423 step:84K smpl:171M ep:595K epch:1269.28 loss:0.020 grdn:2.110 lr:1.0e-04 updt_s:0.256 data_s:0.026
INFO 2026-03-13 13:44:59 ot_train.py:423 step:84K smpl:172M ep:597K epch:1272.31 loss:0.022 grdn:2.520 lr:1.0e-04 updt_s:0.203 data_s:0.037
INFO 2026-03-13 13:46:17 ot_train.py:423 step:84K smpl:172M ep:598K epch:1275.35 loss:0.033 grdn:2.723 lr:1.0e-04 updt_s:0.336 data_s:0.055
INFO 2026-03-13 13:47:09 ot_train.py:423 step:84K smpl:172M ep:600K epch:1278.39 loss:0.030 grdn:2.657 lr:1.0e-04 updt_s:0.129 data_s:0.128
INFO 2026-03-13 13:48:19 ot_train.py:423 step:84K smpl:173M ep:601K epch:1281.42 loss:0.026 grdn:2.230 lr:1.0e-04 updt_s:0.106 data_s:0.242
INFO 2026-03-13 13:49:21 ot_train.py:423 step:85K smpl:173M ep:602K epch:1284.46 loss:0.026 grdn:1.880 lr:1.0e-04 updt_s:0.103 data_s:0.209
INFO 2026-03-13 13:50:10 ot_train.py:423 step:85K smpl:174M ep:604K epch:1287.50 loss:0.021 grdn:1.739 lr:1.0e-04 updt_s:0.110 data_s:0.133
INFO 2026-03-13 13:51:29 ot_train.py:423 step:85K smpl:174M ep:605K epch:1290.53 loss:0.015 grdn:1.973 lr:1.0e-04 updt_s:0.181 data_s:0.211
INFO 2026-03-13 13:52:23 ot_train.py:423 step:85K smpl:174M ep:607K epch:1293.57 loss:0.032 grdn:2.425 lr:1.0e-04 updt_s:0.235 data_s:0.035
INFO 2026-03-13 13:53:20 ot_train.py:423 step:85K smpl:175M ep:608K epch:1296.61 loss:0.015 grdn:2.236 lr:1.0e-04 updt_s:0.130 data_s:0.151
INFO 2026-03-13 13:54:33 ot_train.py:423 step:86K smpl:175M ep:610K epch:1299.64 loss:0.015 grdn:2.228 lr:1.0e-04 updt_s:0.204 data_s:0.161
INFO 2026-03-13 13:55:23 ot_train.py:423 step:86K smpl:176M ep:611K epch:1302.68 loss:0.027 grdn:2.231 lr:1.0e-04 updt_s:0.186 data_s:0.060
INFO 2026-03-13 13:56:34 ot_train.py:423 step:86K smpl:176M ep:612K epch:1305.72 loss:0.013 grdn:1.825 lr:1.0e-04 updt_s:0.206 data_s:0.151
INFO 2026-03-13 13:57:34 ot_train.py:423 step:86K smpl:177M ep:614K epch:1308.75 loss:0.029 grdn:3.164 lr:1.0e-04 updt_s:0.175 data_s:0.122
INFO 2026-03-13 13:58:23 ot_train.py:423 step:86K smpl:177M ep:615K epch:1311.79 loss:0.029 grdn:2.724 lr:1.0e-04 updt_s:0.133 data_s:0.109
INFO 2026-03-13 13:59:41 ot_train.py:423 step:87K smpl:177M ep:617K epch:1314.83 loss:0.032 grdn:2.490 lr:1.0e-04 updt_s:0.113 data_s:0.278
INFO 2026-03-13 14:00:34 ot_train.py:423 step:87K smpl:178M ep:618K epch:1317.86 loss:0.029 grdn:2.149 lr:1.0e-04 updt_s:0.145 data_s:0.122
INFO 2026-03-13 14:01:34 ot_train.py:423 step:87K smpl:178M ep:620K epch:1320.90 loss:0.019 grdn:2.152 lr:1.0e-04 updt_s:0.159 data_s:0.135
INFO 2026-03-13 14:02:43 ot_train.py:423 step:87K smpl:179M ep:621K epch:1323.94 loss:0.023 grdn:2.331 lr:1.0e-04 updt_s:0.291 data_s:0.054
INFO 2026-03-13 14:03:32 ot_train.py:423 step:87K smpl:179M ep:622K epch:1326.97 loss:0.021 grdn:2.225 lr:1.0e-04 updt_s:0.231 data_s:0.013
INFO 2026-03-13 14:04:45 ot_train.py:423 step:88K smpl:179M ep:624K epch:1330.01 loss:0.015 grdn:2.100 lr:1.0e-04 updt_s:0.169 data_s:0.194
INFO 2026-03-13 14:05:44 ot_train.py:423 step:88K smpl:180M ep:625K epch:1333.04 loss:0.021 grdn:2.393 lr:1.0e-04 updt_s:0.108 data_s:0.188
INFO 2026-03-13 14:06:29 ot_train.py:423 step:88K smpl:180M ep:627K epch:1336.08 loss:0.014 grdn:2.409 lr:1.0e-04 updt_s:0.112 data_s:0.113
INFO 2026-03-13 14:07:50 ot_train.py:423 step:88K smpl:181M ep:628K epch:1339.12 loss:0.017 grdn:1.969 lr:1.0e-04 updt_s:0.269 data_s:0.133
INFO 2026-03-13 14:08:42 ot_train.py:423 step:88K smpl:181M ep:629K epch:1342.15 loss:0.022 grdn:1.748 lr:1.0e-04 updt_s:0.251 data_s:0.011
INFO 2026-03-13 14:09:48 ot_train.py:423 step:89K smpl:181M ep:631K epch:1345.19 loss:0.010 grdn:1.825 lr:1.0e-04 updt_s:0.215 data_s:0.112
INFO 2026-03-13 14:10:51 ot_train.py:423 step:89K smpl:182M ep:632K epch:1348.23 loss:0.025 grdn:2.187 lr:1.0e-04 updt_s:0.303 data_s:0.012
INFO 2026-03-13 14:11:41 ot_train.py:423 step:89K smpl:182M ep:634K epch:1351.26 loss:0.035 grdn:3.687 lr:1.0e-04 updt_s:0.233 data_s:0.012
INFO 2026-03-13 14:12:56 ot_train.py:423 step:89K smpl:183M ep:635K epch:1354.30 loss:0.007 grdn:2.036 lr:1.0e-04 updt_s:0.201 data_s:0.174
INFO 2026-03-13 14:13:49 ot_train.py:423 step:89K smpl:183M ep:637K epch:1357.34 loss:-0.010 grdn:1.850 lr:1.0e-04 updt_s:0.216 data_s:0.052
INFO 2026-03-13 14:14:42 ot_train.py:423 step:90K smpl:184M ep:638K epch:1360.37 loss:-0.002 grdn:1.860 lr:1.0e-04 updt_s:0.206 data_s:0.056
INFO 2026-03-13 14:15:59 ot_train.py:423 step:90K smpl:184M ep:639K epch:1363.41 loss:0.005 grdn:1.811 lr:1.0e-04 updt_s:0.211 data_s:0.171
INFO 2026-03-13 14:16:49 ot_train.py:423 step:90K smpl:184M ep:641K epch:1366.45 loss:0.015 grdn:1.865 lr:1.0e-04 updt_s:0.170 data_s:0.080
INFO 2026-03-13 14:16:49 ot_train.py:443 Checkpoint policy after step 90000
[Avatar] Pushing checkpoint (step 90000) to avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632...

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INFO 2026-03-13 14:17:03 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632

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[Avatar] Pushed checkpoint (step 90000) OK
[Avatar] Tagged as 'step-90000'
INFO 2026-03-13 14:18:12 ot_train.py:423 step:90K smpl:185M ep:642K epch:1369.48 loss:0.020 grdn:1.917 lr:1.0e-04 updt_s:0.242 data_s:0.084
INFO 2026-03-13 14:19:15 ot_train.py:423 step:90K smpl:185M ep:644K epch:1372.52 loss:0.021 grdn:1.844 lr:1.0e-04 updt_s:0.135 data_s:0.179
INFO 2026-03-13 14:20:02 ot_train.py:423 step:91K smpl:186M ep:645K epch:1375.56 loss:0.030 grdn:1.936 lr:1.0e-04 updt_s:0.137 data_s:0.099
INFO 2026-03-13 14:21:20 ot_train.py:423 step:91K smpl:186M ep:647K epch:1378.59 loss:0.031 grdn:2.086 lr:1.0e-04 updt_s:0.097 data_s:0.289
INFO 2026-03-13 14:22:14 ot_train.py:423 step:91K smpl:186M ep:648K epch:1381.63 loss:0.039 grdn:3.198 lr:1.0e-04 updt_s:0.194 data_s:0.075
INFO 2026-03-13 14:23:09 ot_train.py:423 step:91K smpl:187M ep:649K epch:1384.67 loss:0.011 grdn:2.115 lr:1.0e-04 updt_s:0.136 data_s:0.138
INFO 2026-03-13 14:24:21 ot_train.py:423 step:91K smpl:187M ep:651K epch:1387.70 loss:0.004 grdn:1.837 lr:1.0e-04 updt_s:0.254 data_s:0.108
INFO 2026-03-13 14:25:12 ot_train.py:423 step:92K smpl:188M ep:652K epch:1390.74 loss:0.025 grdn:2.547 lr:1.0e-04 updt_s:0.238 data_s:0.012
INFO 2026-03-13 14:26:23 ot_train.py:423 step:92K smpl:188M ep:654K epch:1393.78 loss:0.023 grdn:1.946 lr:1.0e-04 updt_s:0.250 data_s:0.107
INFO 2026-03-13 14:27:24 ot_train.py:423 step:92K smpl:188M ep:655K epch:1396.81 loss:0.009 grdn:2.007 lr:1.0e-04 updt_s:0.172 data_s:0.130
INFO 2026-03-13 14:28:11 ot_train.py:423 step:92K smpl:189M ep:657K epch:1399.85 loss:0.021 grdn:1.780 lr:1.0e-04 updt_s:0.178 data_s:0.057
INFO 2026-03-13 14:29:32 ot_train.py:423 step:92K smpl:189M ep:658K epch:1402.89 loss:0.009 grdn:2.375 lr:1.0e-04 updt_s:0.107 data_s:0.296
INFO 2026-03-13 14:30:25 ot_train.py:423 step:93K smpl:190M ep:659K epch:1405.92 loss:0.014 grdn:1.776 lr:1.0e-04 updt_s:0.177 data_s:0.085
INFO 2026-03-13 14:31:25 ot_train.py:423 step:93K smpl:190M ep:661K epch:1408.96 loss:0.020 grdn:1.821 lr:1.0e-04 updt_s:0.148 data_s:0.154
INFO 2026-03-13 14:32:33 ot_train.py:423 step:93K smpl:190M ep:662K epch:1411.99 loss:0.027 grdn:2.831 lr:1.0e-04 updt_s:0.173 data_s:0.167
INFO 2026-03-13 14:33:21 ot_train.py:423 step:93K smpl:191M ep:664K epch:1415.03 loss:0.030 grdn:2.271 lr:1.0e-04 updt_s:0.131 data_s:0.108
INFO 2026-03-13 14:34:34 ot_train.py:423 step:93K smpl:191M ep:665K epch:1418.07 loss:0.027 grdn:2.090 lr:1.0e-04 updt_s:0.157 data_s:0.206
INFO 2026-03-13 14:35:32 ot_train.py:423 step:94K smpl:192M ep:666K epch:1421.10 loss:0.020 grdn:1.967 lr:1.0e-04 updt_s:0.166 data_s:0.123
INFO 2026-03-13 14:36:17 ot_train.py:423 step:94K smpl:192M ep:668K epch:1424.14 loss:0.024 grdn:2.271 lr:1.0e-04 updt_s:0.127 data_s:0.096
INFO 2026-03-13 14:37:39 ot_train.py:423 step:94K smpl:193M ep:669K epch:1427.18 loss:0.022 grdn:2.097 lr:1.0e-04 updt_s:0.281 data_s:0.127
INFO 2026-03-13 14:38:31 ot_train.py:423 step:94K smpl:193M ep:671K epch:1430.21 loss:0.024 grdn:1.893 lr:1.0e-04 updt_s:0.193 data_s:0.068
INFO 2026-03-13 14:39:37 ot_train.py:423 step:94K smpl:193M ep:672K epch:1433.25 loss:0.031 grdn:2.249 lr:1.0e-04 updt_s:0.180 data_s:0.147
INFO 2026-03-13 14:40:43 ot_train.py:423 step:95K smpl:194M ep:674K epch:1436.29 loss:0.012 grdn:2.190 lr:1.0e-04 updt_s:0.175 data_s:0.155
INFO 2026-03-13 14:41:31 ot_train.py:423 step:95K smpl:194M ep:675K epch:1439.32 loss:0.013 grdn:2.067 lr:1.0e-04 updt_s:0.126 data_s:0.112
INFO 2026-03-13 14:42:45 ot_train.py:423 step:95K smpl:195M ep:676K epch:1442.36 loss:0.018 grdn:1.764 lr:1.0e-04 updt_s:0.236 data_s:0.136
INFO 2026-03-13 14:43:41 ot_train.py:423 step:95K smpl:195M ep:678K epch:1445.40 loss:0.034 grdn:2.931 lr:1.0e-04 updt_s:0.262 data_s:0.012
INFO 2026-03-13 14:44:32 ot_train.py:423 step:95K smpl:195M ep:679K epch:1448.43 loss:0.032 grdn:2.546 lr:1.0e-04 updt_s:0.206 data_s:0.050
INFO 2026-03-13 14:45:47 ot_train.py:423 step:96K smpl:196M ep:681K epch:1451.47 loss:0.027 grdn:2.443 lr:1.0e-04 updt_s:0.295 data_s:0.079
INFO 2026-03-13 14:46:39 ot_train.py:423 step:96K smpl:196M ep:682K epch:1454.51 loss:0.018 grdn:1.974 lr:1.0e-04 updt_s:0.240 data_s:0.020
INFO 2026-03-13 14:47:46 ot_train.py:423 step:96K smpl:197M ep:684K epch:1457.54 loss:0.017 grdn:2.066 lr:1.0e-04 updt_s:0.207 data_s:0.127
INFO 2026-03-13 14:48:49 ot_train.py:423 step:96K smpl:197M ep:685K epch:1460.58 loss:0.023 grdn:2.279 lr:1.0e-04 updt_s:0.301 data_s:0.012
INFO 2026-03-13 14:49:38 ot_train.py:423 step:96K smpl:197M ep:686K epch:1463.62 loss:0.020 grdn:1.916 lr:1.0e-04 updt_s:0.153 data_s:0.093
INFO 2026-03-13 14:50:53 ot_train.py:423 step:97K smpl:198M ep:688K epch:1466.65 loss:0.012 grdn:1.817 lr:1.0e-04 updt_s:0.121 data_s:0.251
INFO 2026-03-13 14:51:48 ot_train.py:423 step:97K smpl:198M ep:689K epch:1469.69 loss:0.026 grdn:1.818 lr:1.0e-04 updt_s:0.223 data_s:0.052
INFO 2026-03-13 14:52:47 ot_train.py:423 step:97K smpl:199M ep:691K epch:1472.73 loss:0.031 grdn:1.667 lr:1.0e-04 updt_s:0.126 data_s:0.165
INFO 2026-03-13 14:53:58 ot_train.py:423 step:97K smpl:199M ep:692K epch:1475.76 loss:0.028 grdn:2.143 lr:1.0e-04 updt_s:0.324 data_s:0.031
INFO 2026-03-13 14:54:48 ot_train.py:423 step:97K smpl:199M ep:694K epch:1478.80 loss:0.015 grdn:2.081 lr:1.0e-04 updt_s:0.241 data_s:0.011
INFO 2026-03-13 14:56:00 ot_train.py:423 step:98K smpl:200M ep:695K epch:1481.84 loss:0.033 grdn:2.078 lr:1.0e-04 updt_s:0.182 data_s:0.175
INFO 2026-03-13 14:57:00 ot_train.py:423 step:98K smpl:200M ep:696K epch:1484.87 loss:0.021 grdn:1.814 lr:1.0e-04 updt_s:0.114 data_s:0.187
INFO 2026-03-13 14:57:46 ot_train.py:423 step:98K smpl:201M ep:698K epch:1487.91 loss:0.004 grdn:2.404 lr:1.0e-04 updt_s:0.162 data_s:0.066
INFO 2026-03-13 14:59:05 ot_train.py:423 step:98K smpl:201M ep:699K epch:1490.95 loss:0.022 grdn:2.727 lr:1.0e-04 updt_s:0.243 data_s:0.149
INFO 2026-03-13 14:59:58 ot_train.py:423 step:98K smpl:202M ep:701K epch:1493.98 loss:0.019 grdn:1.794 lr:1.0e-04 updt_s:0.255 data_s:0.011
INFO 2026-03-13 15:00:58 ot_train.py:423 step:99K smpl:202M ep:702K epch:1497.02 loss:0.018 grdn:1.998 lr:1.0e-04 updt_s:0.186 data_s:0.114
INFO 2026-03-13 15:02:06 ot_train.py:423 step:99K smpl:202M ep:704K epch:1500.05 loss:0.023 grdn:2.104 lr:1.0e-04 updt_s:0.285 data_s:0.049
INFO 2026-03-13 15:02:55 ot_train.py:423 step:99K smpl:203M ep:705K epch:1503.09 loss:0.018 grdn:1.913 lr:1.0e-04 updt_s:0.234 data_s:0.014
INFO 2026-03-13 15:04:11 ot_train.py:423 step:99K smpl:203M ep:706K epch:1506.13 loss:0.016 grdn:1.979 lr:1.0e-04 updt_s:0.130 data_s:0.246
INFO 2026-03-13 15:05:06 ot_train.py:423 step:99K smpl:204M ep:708K epch:1509.16 loss:0.017 grdn:2.105 lr:1.0e-04 updt_s:0.113 data_s:0.163
INFO 2026-03-13 15:05:51 ot_train.py:423 step:100K smpl:204M ep:709K epch:1512.20 loss:0.019 grdn:1.992 lr:1.0e-04 updt_s:0.146 data_s:0.075
INFO 2026-03-13 15:07:13 ot_train.py:423 step:100K smpl:204M ep:711K epch:1515.24 loss:0.016 grdn:1.788 lr:1.0e-04 updt_s:0.164 data_s:0.247
INFO 2026-03-13 15:08:05 ot_train.py:423 step:100K smpl:205M ep:712K epch:1518.27 loss:0.022 grdn:2.248 lr:1.0e-04 updt_s:0.126 data_s:0.133
INFO 2026-03-13 15:08:05 ot_train.py:443 Checkpoint policy after step 100000
[Avatar] Pushing checkpoint (step 100000) to avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632...

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INFO 2026-03-13 15:08:23 etrained.py:246 Model pushed to https://huggingface.co/avatarrobotics/act-alpha-bot-right-resnet18-b256-20260313-0632

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[Avatar] Pushed checkpoint (step 100000) OK
[Avatar] Tagged as 'step-100000'
INFO 2026-03-13 15:08:29 ot_train.py:514 End of training

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WARNING 2026-03-13 15:08:34 /hf_api.py:4298 No files have been modified since last commit. Skipping to prevent empty commit.

>>> Training finished with exit code 0
Ended: 2026-03-13 15:08:42 UTC
>>> Saving training log to HuggingFace...