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num_samples_to_log: 30 +policy: + name: hilserl/classifier + model_name: facebook/convnext-base-224 + model_type: cnn +wandb: + enable: true + project: lerobot-classifier-training + job_name: classifier_training_0 + disable_artifact: false +device: mps +resume: true +output_dir: outputs/hilserl_classifier diff --git a/checkpoints/000001/pretrained_model/model.safetensors b/checkpoints/000001/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..18641e0fdd0cd4c4b51f61aa6b0bb7724c43fdb3 --- /dev/null +++ b/checkpoints/000001/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a632230900bfa394a87e985a03c202ba6bd7d8cbc52cf0ccabc300bced4e9e0 +size 351359764 diff --git a/checkpoints/000001/training_state.pth b/checkpoints/000001/training_state.pth new file mode 100644 index 0000000000000000000000000000000000000000..a4f41454b9895a2566fb82dd0535f869ce3cb9b7 --- /dev/null +++ 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Please refer to https://wandb.me/wandb-core for more information. +2024-12-25 14:57:42,219 INFO MainThread:904 [wandb_setup.py:_flush():79] Applying login settings: {} +2024-12-25 14:57:42,219 INFO MainThread:904 [wandb_init.py:_log_setup():532] Logging user logs to outputs/hilserl_classifier/wandb/run-20241225_145742-aahf1r5i/logs/debug.log +2024-12-25 14:57:42,219 INFO MainThread:904 [wandb_init.py:_log_setup():533] Logging internal logs to outputs/hilserl_classifier/wandb/run-20241225_145742-aahf1r5i/logs/debug-internal.log +2024-12-25 14:57:42,220 INFO MainThread:904 [wandb_init.py:init():617] calling init triggers +2024-12-25 14:57:42,220 INFO MainThread:904 [wandb_init.py:init():624] wandb.init called with sweep_config: {} +config: {'seed': 13, 'dataset_repo_id': 'helper2424/hil-serl-push-circle-classifier', 'train_split_proportion': 0.8, 'env': {'name': 'classifier', 'task': 'binary_classification'}, 'training': {'num_epochs': 1, 'batch_size': 16, 'learning_rate': 0.0001, 'num_workers': 4, 'grad_clip_norm': 10, 'use_amp': False, 'log_freq': 1, 'eval_freq': 1, 'save_freq': 1, 'save_checkpoint': True, 'image_key': 'observation.images.web0', 'label_key': 'next.reward'}, 'eval': {'batch_size': 16, 'num_samples_to_log': 30}, 'policy': {'name': 'hilserl/classifier', 'model_name': 'facebook/convnext-base-224', 'model_type': 'cnn'}, 'wandb': {'enable': True, 'project': 'lerobot-classifier-training', 'entity': 'helper2424', 'job_name': 'classifier_training_0', 'disable_artifact': False}, 'device': 'mps', 'resume': False, 'output_dir': 'outputs/hilserl_classifier'} +2024-12-25 14:57:42,220 INFO MainThread:904 [wandb_init.py:init():667] starting backend +2024-12-25 14:57:42,220 INFO MainThread:904 [wandb_init.py:init():671] sending inform_init request +2024-12-25 14:57:42,222 INFO MainThread:904 [backend.py:_multiprocessing_setup():104] multiprocessing start_methods=spawn,fork,forkserver, using: spawn +2024-12-25 14:57:42,222 INFO MainThread:904 [wandb_init.py:init():684] backend started and connected +2024-12-25 14:57:42,228 INFO MainThread:904 [wandb_init.py:init():779] updated telemetry +2024-12-25 14:57:42,257 INFO MainThread:904 [wandb_init.py:init():812] communicating run to backend with 90.0 second timeout +2024-12-25 14:57:42,631 ERROR MainThread:904 [wandb_init.py:init():838] encountered error: failed to upsert bucket: returned error 403 Forbidden: {"errors":[{"message":"permission denied","path":["upsertBucket"],"extensions":{"code":"PERMISSION_ERROR"}}],"data":{"upsertBucket":null}} +2024-12-25 14:57:42,631 ERROR MainThread:904 [wandb_init.py:init():1262] error in wandb.init() +Traceback (most recent call last): + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/wandb/sdk/wandb_init.py", line 1252, in init + return wi.init() + ^^^^^^^^^ + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/wandb/sdk/wandb_init.py", line 844, in init + raise error +wandb.errors.errors.CommError: failed to upsert bucket: returned error 403 Forbidden: {"errors":[{"message":"permission denied","path":["upsertBucket"],"extensions":{"code":"PERMISSION_ERROR"}}],"data":{"upsertBucket":null}} +2024-12-25 14:57:42,831 WARNING MsgRouterThr:904 [router.py:message_loop():77] message_loop has been closed diff --git a/wandb/run-20241225_145742-aahf1r5i/run-aahf1r5i.wandb b/wandb/run-20241225_145742-aahf1r5i/run-aahf1r5i.wandb new file mode 100644 index 0000000000000000000000000000000000000000..06ab8c2dfcd31584dc335e7abb60c58393c2cbce Binary files /dev/null and b/wandb/run-20241225_145742-aahf1r5i/run-aahf1r5i.wandb differ diff --git a/wandb/run-20241225_145753-npwcsof9/files/config.yaml b/wandb/run-20241225_145753-npwcsof9/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..29616867fe7d7bbfcb4cd5d730e176e926b4dba8 --- /dev/null +++ b/wandb/run-20241225_145753-npwcsof9/files/config.yaml @@ -0,0 +1,82 @@ +_wandb: + value: + cli_version: 0.18.3 + m: [] + python_version: 3.12.7 + t: + "1": + - 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Track this run --> https://wandb.ai/helper2424-3commas/lerobot-classifier-training/runs/npwcsof9 +Fetching 4 files: 100%|█████████████████████████████████████████████| 4/4 [00:00<00:00, 2136.41it/s] +Fetching 66 files: 100%|██████████████████████████████████████████| 66/66 [00:00<00:00, 2102.18it/s] +Resolving data files: 100%|█████████████████████████████████████| 20/20 [00:00<00:00, 174037.51it/s] +[2024-12-25 14:57:57,252][root][INFO] - Dataset size: 6747 +[2024-12-25 14:59:06,410][root][WARNING] - Hydra config is missing arguments: {'hidden_dim', 'num_classes', 'dropout_rate', 'device'} +/Users/helper2424/Documents/lerobot/lerobot/scripts/train_hilserl_classifier.py:254: FutureWarning: `torch.cuda.amp.GradScaler(args...)` is deprecated. 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1 + - 11 + - 41 + - 49 + - 50 + - 51 + - 55 + "2": + - 1 + - 11 + - 41 + - 49 + - 50 + - 51 + - 55 + "3": + - 13 + - 15 + - 16 + - 23 + - 55 + - 61 + "4": 3.12.7 + "5": 0.18.3 + "6": 4.47.1 + "8": + - 5 + "12": 0.18.3 + "13": darwin-arm64 +dataset_repo_id: + value: helper2424/hil-serl-push-circle-classifier +device: + value: mps +env: + value: + name: classifier + task: binary_classification +eval: + value: + batch_size: 16 + num_samples_to_log: 30 +output_dir: + value: outputs/hilserl_classifier +policy: + value: + model_name: facebook/convnext-base-224 + model_type: cnn + name: hilserl/classifier +resume: + value: false +seed: + value: 13 +train_split_proportion: + value: 0.8 +training: + value: + batch_size: 16 + eval_freq: 1 + grad_clip_norm: 10 + image_key: observation.images.web0 + label_key: next.reward + learning_rate: 0.0001 + log_freq: 1 + num_epochs: 1 + num_workers: 4 + save_checkpoint: true + save_freq: 1 + use_amp: false +wandb: + value: + disable_artifact: false + enable: true + job_name: classifier_training_0 + project: lerobot-classifier-training diff --git a/wandb/run-20241225_161001-9duh6joa/files/output.log b/wandb/run-20241225_161001-9duh6joa/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..3548694cefe9481fc5874153c74b0be809390629 --- /dev/null +++ b/wandb/run-20241225_161001-9duh6joa/files/output.log @@ -0,0 +1,71 @@ +Logs will be synced with wandb. +[2024-12-25 16:10:02,595][root][INFO] - Track this run --> https://wandb.ai/helper2424-3commas/lerobot-classifier-training/runs/9duh6joa +Fetching 4 files: 100%|█████████████████████████████████████████████| 4/4 [00:00<00:00, 5473.81it/s] +Fetching 66 files: 100%|██████████████████████████████████████████| 66/66 [00:00<00:00, 2295.43it/s] +Resolving data files: 100%|█████████████████████████████████████| 20/20 [00:00<00:00, 238312.73it/s] +[2024-12-25 16:10:05,748][root][INFO] - Dataset size: 6747 +[2024-12-25 16:11:10,167][root][WARNING] - Hydra config is missing arguments: {'hidden_dim', 'device', 'dropout_rate', 'num_classes'} +/Users/helper2424/Documents/lerobot/lerobot/scripts/train_hilserl_classifier.py:254: FutureWarning: `torch.cuda.amp.GradScaler(args...)` is deprecated. Please use `torch.amp.GradScaler('cuda', args...)` instead. + grad_scaler = GradScaler(enabled=cfg.training.use_amp) +[2024-12-25 16:11:11,969][root][INFO] - Learnable parameters: 263K +[2024-12-25 16:11:11,969][root][INFO] - Total parameters: 88M +[2024-12-25 16:11:11,969][root][INFO] - +Epoch 1/1 +Training: 0%| | 0/338 [00:00 + train() + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/hydra/main.py", line 94, in decorated_main + _run_hydra( + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/hydra/_internal/utils.py", line 394, in _run_hydra + _run_app( + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/hydra/_internal/utils.py", line 457, in _run_app + run_and_report( + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/hydra/_internal/utils.py", line 220, in run_and_report + return func() + ^^^^^^ + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/hydra/_internal/utils.py", line 458, in + lambda: hydra.run( + ^^^^^^^^^^ + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/hydra/_internal/hydra.py", line 119, in run + ret = run_job( + ^^^^^^^^ + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/hydra/core/utils.py", line 186, in run_job + ret.return_value = task_function(task_cfg) + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/Users/helper2424/Documents/lerobot/lerobot/scripts/train_hilserl_classifier.py", line 269, in train + train_epoch(model, train_loader, criterion, optimizer, grad_scaler, device, logger, step, cfg) + File "/Users/helper2424/Documents/lerobot/lerobot/scripts/train_hilserl_classifier.py", line 81, in train_epoch + outputs = model(images) + ^^^^^^^^^^^^^ + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/torch/nn/modules/module.py", line 1553, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/torch/nn/modules/module.py", line 1562, in _call_impl + return forward_call(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/Users/helper2424/Documents/lerobot/lerobot/common/policies/hilserl/classifier/modeling_classifier.py", line 125, in forward + encoder_output = self._get_encoder_output(x) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/Users/helper2424/Documents/lerobot/lerobot/common/policies/hilserl/classifier/modeling_classifier.py", line 100, in _get_encoder_output + processed = self.processor( + ^^^^^^^^^^^^^^^ + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/transformers/image_processing_utils.py", line 41, in __call__ + return self.preprocess(images, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/transformers/utils/generic.py", line 852, in wrapper + return func(*args, **valid_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/transformers/models/convnext/image_processing_convnext.py", line 297, in preprocess + self.resize( + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/transformers/models/convnext/image_processing_convnext.py", line 159, in resize + image = resize( + ^^^^^^^ + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/transformers/image_transforms.py", line 354, in resize + resized_image = rescale(resized_image, 1 / 255) if do_rescale else resized_image + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/Users/helper2424/Library/Caches/pypoetry/virtualenvs/lerobot-_GqtL9sV-py3.12/lib/python3.12/site-packages/transformers/image_transforms.py", line 129, in rescale + rescaled_image = image.astype(np.float64) * scale # Numpy type promotion has changed, so always upcast first + ^^^^^^^^^^^^^^^^^^^^^^^^ +KeyboardInterrupt diff --git a/wandb/run-20241225_161001-9duh6joa/files/requirements.txt b/wandb/run-20241225_161001-9duh6joa/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..1bcbde3f026a5ad0c29e452a832bb456569ef096 --- /dev/null +++ b/wandb/run-20241225_161001-9duh6joa/files/requirements.txt @@ -0,0 +1,114 @@ +dynamixel-sdk==3.7.31 +opencv-python==4.10.0.84 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Track this run --> https://wandb.ai/helper2424-3commas/lerobot-classifier-training/runs/9duh6joa +Fetching 4 files: 100%|█████████████████████████████████████████████| 4/4 [00:00<00:00, 3189.58it/s] +Fetching 66 files: 100%|██████████████████████████████████████████| 66/66 [00:00<00:00, 2993.99it/s] +Resolving data files: 100%|█████████████████████████████████████| 20/20 [00:00<00:00, 221920.85it/s] +[2024-12-25 16:15:05,101][root][INFO] - Dataset size: 6747 +[2024-12-25 16:16:08,925][root][INFO] - You have set resume=True, indicating that you wish to resume a run +[2024-12-25 16:16:09,010][root][WARNING] - At least one difference was detected between the checkpoint configuration and the provided configuration: +{'dictionary_item_removed': ["root['wandb']['entity']"], 'values_changed': {}} +Note that the checkpoint configuration takes precedence. +[2024-12-25 16:16:09,010][root][WARNING] - Hydra config is missing arguments: {'num_classes', 'device', 'dropout_rate', 'hidden_dim'} +Loading weights from local directory +/Users/helper2424/Documents/lerobot/lerobot/scripts/train_hilserl_classifier.py:254: FutureWarning: `torch.cuda.amp.GradScaler(args...)` is deprecated. Please use `torch.amp.GradScaler('cuda', args...)` instead. + grad_scaler = GradScaler(enabled=cfg.training.use_amp) +[2024-12-25 16:16:12,341][root][INFO] - Learnable parameters: 263K +[2024-12-25 16:16:12,341][root][INFO] - Total parameters: 88M +/Users/helper2424/Documents/lerobot/lerobot/common/logger.py:217: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. 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