2025-10-28 17:01:00.157391: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`. 2025-10-28 17:01:00.308831: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered 2025-10-28 17:01:00.308871: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered 2025-10-28 17:01:00.312878: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered 2025-10-28 17:01:00.334847: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. To enable the following instructions: AVX2 AVX512F AVX512_VNNI AVX512_BF16 AVX_VNNI AMX_TILE AMX_INT8 AMX_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' 2025-10-28 17:01:02.171914: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' 2025-10-28 17:01:13,223 INFO worker.py:1908 -- Started a local Ray instance. View the dashboard at 127.0.0.1:8265  [INFO 17:01:15 PackedPlacementStrategy] [INFO 17:01:15 PackedPlacementStrategy] Using packed placement starting from GPU 0, ending at GPU 7, with 1 GPUs per process and stride 1. [INFO 17:01:15 PackedPlacementStrategy] [INFO 17:01:15 PackedPlacementStrategy] Using packed placement starting from GPU 0, ending at GPU 7, with 1 GPUs per process and stride 1. [INFO 17:01:15 PackedPlacementStrategy] [INFO 17:01:15 PackedPlacementStrategy] Using packed placement starting from GPU 0, ending at GPU 7, with 1 GPUs per process and stride 1. [INFO 17:01:15 PackedPlacementStrategy] Generated 8 placements: [Placement(rank=0, node_id=0, node_rank=0, local_gpu_id=0, local_rank=0, local_world_size=8, cuda_visible_devices=['0'], isolate_gpu=True), Placement(rank=1, node_id=0, node_rank=0, local_gpu_id=1, local_rank=1, local_world_size=8, cuda_visible_devices=['1'], isolate_gpu=True), Placement(rank=2, node_id=0, node_rank=0, local_gpu_id=2, local_rank=2, local_world_size=8, cuda_visible_devices=['2'], isolate_gpu=True), Placement(rank=3, node_id=0, node_rank=0, local_gpu_id=3, local_rank=3, local_world_size=8, cuda_visible_devices=['3'], isolate_gpu=True), Placement(rank=4, node_id=0, node_rank=0, local_gpu_id=4, local_rank=4, local_world_size=8, cuda_visible_devices=['4'], isolate_gpu=True), Placement(rank=5, node_id=0, node_rank=0, local_gpu_id=5, local_rank=5, local_world_size=8, cuda_visible_devices=['5'], isolate_gpu=True), Placement(rank=6, node_id=0, node_rank=0, local_gpu_id=6, local_rank=6, local_world_size=8, cuda_visible_devices=['6'], isolate_gpu=True), Placement(rank=7, node_id=0, node_rank=0, local_gpu_id=7, local_rank=7, local_world_size=8, cuda_visible_devices=['7'], isolate_gpu=True)]. [INFO 17:01:16 PackedPlacementStrategy] Generated 8 placements: [Placement(rank=0, node_id=0, node_rank=0, local_gpu_id=0, local_rank=0, local_world_size=8, cuda_visible_devices=['0'], isolate_gpu=True), Placement(rank=1, node_id=0, node_rank=0, local_gpu_id=1, local_rank=1, local_world_size=8, cuda_visible_devices=['1'], isolate_gpu=True), Placement(rank=2, node_id=0, node_rank=0, local_gpu_id=2, local_rank=2, local_world_size=8, cuda_visible_devices=['2'], isolate_gpu=True), Placement(rank=3, node_id=0, node_rank=0, local_gpu_id=3, local_rank=3, local_world_size=8, cuda_visible_devices=['3'], isolate_gpu=True), Placement(rank=4, node_id=0, node_rank=0, local_gpu_id=4, local_rank=4, local_world_size=8, cuda_visible_devices=['4'], isolate_gpu=True), Placement(rank=5, node_id=0, node_rank=0, local_gpu_id=5, local_rank=5, local_world_size=8, cuda_visible_devices=['5'], isolate_gpu=True), Placement(rank=6, node_id=0, node_rank=0, local_gpu_id=6, local_rank=6, local_world_size=8, cuda_visible_devices=['6'], isolate_gpu=True), Placement(rank=7, node_id=0, node_rank=0, local_gpu_id=7, local_rank=7, local_world_size=8, cuda_visible_devices=['7'], isolate_gpu=True)]. [INFO 17:01:16 PackedPlacementStrategy] Generated 8 placements: [Placement(rank=0, node_id=0, node_rank=0, local_gpu_id=0, local_rank=0, local_world_size=8, cuda_visible_devices=['0'], isolate_gpu=True), Placement(rank=1, node_id=0, node_rank=0, local_gpu_id=1, local_rank=1, local_world_size=8, cuda_visible_devices=['1'], isolate_gpu=True), Placement(rank=2, node_id=0, node_rank=0, local_gpu_id=2, local_rank=2, local_world_size=8, cuda_visible_devices=['2'], isolate_gpu=True), Placement(rank=3, node_id=0, node_rank=0, local_gpu_id=3, local_rank=3, local_world_size=8, cuda_visible_devices=['3'], isolate_gpu=True), Placement(rank=4, node_id=0, node_rank=0, local_gpu_id=4, local_rank=4, local_world_size=8, cuda_visible_devices=['4'], isolate_gpu=True), Placement(rank=5, node_id=0, node_rank=0, local_gpu_id=5, local_rank=5, local_world_size=8, cuda_visible_devices=['5'], isolate_gpu=True), Placement(rank=6, node_id=0, node_rank=0, local_gpu_id=6, local_rank=6, local_world_size=8, cuda_visible_devices=['6'], isolate_gpu=True), Placement(rank=7, node_id=0, node_rank=0, local_gpu_id=7, local_rank=7, local_world_size=8, cuda_visible_devices=['7'], isolate_gpu=True)]. wandb: Tracking run with wandb version 0.20.1 wandb: W&B syncing is set to `offline` in this directory. Run `wandb online` or set WANDB_MODE=online to enable cloud syncing. (pid=11231) 2025-10-28 17:01:26.471776: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11231) 2025-10-28 17:01:26.471840: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11231) 2025-10-28 17:01:26.475503: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11231) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11231) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11231) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11231) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11231) 2025-10-28 17:01:27.425747: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11232) 2025-10-28 17:01:27.597037: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11232) 2025-10-28 17:01:27.597100: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11232) 2025-10-28 17:01:27.600321: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11232) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11232) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11231) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11232) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11233) 2025-10-28 17:01:28.334146: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11233) 2025-10-28 17:01:28.334215: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11233) 2025-10-28 17:01:28.338273: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11233) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11230) 2025-10-28 17:01:28.521169: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11230) 2025-10-28 17:01:28.521232: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11233) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11230) 2025-10-28 17:01:28.524884: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11232) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11230) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11230) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11232) 2025-10-28 17:01:28.544758: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11233) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11234) 2025-10-28 17:01:29.137736: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11234) 2025-10-28 17:01:29.137807: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11234) 2025-10-28 17:01:29.143055: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11234) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11235) 2025-10-28 17:01:29.099973: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11235) 2025-10-28 17:01:29.100050: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11235) 2025-10-28 17:01:29.105872: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11235) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11238) 2025-10-28 17:01:29.167023: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11238) 2025-10-28 17:01:29.167088: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11238) 2025-10-28 17:01:29.171731: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11238) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11235) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11230) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11232) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11233) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11233) 2025-10-28 17:01:29.294236: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11234) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11236) 2025-10-28 17:01:29.305508: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11236) 2025-10-28 17:01:29.305565: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11236) 2025-10-28 17:01:29.309088: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11238) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11236) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11236) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11256) 2025-10-28 17:01:29.350942: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11256) 2025-10-28 17:01:29.350997: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11256) 2025-10-28 17:01:29.354251: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11256) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11256) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11230) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11230) 2025-10-28 17:01:29.491656: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11252) 2025-10-28 17:01:29.690363: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11252) 2025-10-28 17:01:29.690436: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11252) 2025-10-28 17:01:29.697902: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11252) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11234) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11235) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11238) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11252) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11260) 2025-10-28 17:01:29.911055: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11260) 2025-10-28 17:01:29.911118: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11260) 2025-10-28 17:01:29.915108: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11260) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11233) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11235) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11235) 2025-10-28 17:01:30.095351: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11236) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11256) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11260) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11234) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11234) 2025-10-28 17:01:30.133859: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11238) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11238) 2025-10-28 17:01:30.142101: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11230) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11236) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11236) 2025-10-28 17:01:30.287877: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11256) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11256) 2025-10-28 17:01:30.324186: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11252) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11260) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11252) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11252) 2025-10-28 17:01:30.678193: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11260) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11234) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11235) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11238) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11260) 2025-10-28 17:01:30.896578: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11236) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11256) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11252) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11260) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11242) 2025-10-28 17:01:33.784816: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11242) 2025-10-28 17:01:33.784887: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11242) 2025-10-28 17:01:33.788680: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11242) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11266) 2025-10-28 17:01:33.848211: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11266) 2025-10-28 17:01:33.848272: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11266) 2025-10-28 17:01:33.851523: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11266) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11266) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11242) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11264) 2025-10-28 17:01:34.266972: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11264) 2025-10-28 17:01:34.267043: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11264) 2025-10-28 17:01:34.271836: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11264) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11264) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11242) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11239) 2025-10-28 17:01:34.498360: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11239) 2025-10-28 17:01:34.498430: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11239) 2025-10-28 17:01:34.503704: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11239) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11266) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11240) 2025-10-28 17:01:34.494481: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered (pid=11240) 2025-10-28 17:01:34.494554: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered (pid=11240) 2025-10-28 17:01:34.499867: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered (pid=11240) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11239) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11240) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11266) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11266) 2025-10-28 17:01:34.780908: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11242) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11242) 2025-10-28 17:01:34.717715: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11264) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11239) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11240) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11264) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11264) 2025-10-28 17:01:35.212914: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11239) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11239) 2025-10-28 17:01:35.444862: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11240) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11240) 2025-10-28 17:01:35.441090: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT (pid=11266) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11242) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11264) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11239) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (pid=11240) AttributeError: 'MessageFactory' object has no attribute 'GetPrototype' (EnvWorker pid=11270) [INFO 17:01:37 PackedPlacementStrategy] (EnvWorker pid=11270) [INFO 17:01:37 PackedPlacementStrategy] Using packed placement starting from GPU 0, ending at GPU 0, with 1 GPUs per process and stride 1. (EnvWorker pid=11270) [INFO 17:01:37 PackedPlacementStrategy] Generated 1 placements: [Placement(rank=0, node_id=0, node_rank=0, local_gpu_id=0, local_rank=0, local_world_size=1, cuda_visible_devices=['0'], isolate_gpu=True)]. (EmbodiedFSDPActor pid=11230) Debug::openpi, maniskill, only one task. (EmbodiedFSDPActor pid=11230) [INFO 17:01:46 TrainerGroup-Rank-0][fsdp_actor_worker.py:111] /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000, {'model_name': 'openpi', 'precision': 'bf16', 'num_action_chunks': 5, 'action_dim': 7, 'is_lora': False, 'num_images_in_input': 1, 'use_proprio': True, 'num_steps': 4, 'logprob_gather_mode': 'sum', 'openpi': {'simulator': 'maniskill', 'noise_level': 0.5, 'action_chunk': '${actor.model.num_action_chunks}', 'num_steps': '${actor.model.num_steps}', 'train_expert_only': True, 'action_env_dim': '${actor.model.action_dim}', 'noise_method': 'reinflow', 'noise_anneal': False, 'action_horizon': 8, 'noise_params': [0.16, 0.12, 200], 'adv_method': 'ppo', 'pi05': True, 'value_after_vlm': True, 'joint_logprob': True}, 'policy_setup': 'widowx_bridge', 'sharding_strategy': 'full_shard'} (EmbodiedFSDPActor pid=11231) Debug::openpi, maniskill, only one task. (EmbodiedFSDPActor pid=11231) [INFO 17:01:46 TrainerGroup-Rank-1][fsdp_actor_worker.py:111] /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000, {'model_name': 'openpi', 'precision': 'bf16', 'num_action_chunks': 5, 'action_dim': 7, 'is_lora': False, 'num_images_in_input': 1, 'use_proprio': True, 'num_steps': 4, 'logprob_gather_mode': 'sum', 'openpi': {'simulator': 'maniskill', 'noise_level': 0.5, 'action_chunk': '${actor.model.num_action_chunks}', 'num_steps': '${actor.model.num_steps}', 'train_expert_only': True, 'action_env_dim': '${actor.model.action_dim}', 'noise_method': 'reinflow', 'noise_anneal': False, 'action_horizon': 8, 'noise_params': [0.16, 0.12, 200], 'adv_method': 'ppo', 'pi05': True, 'value_after_vlm': True, 'joint_logprob': True}, 'policy_setup': 'widowx_bridge', 'sharding_strategy': 'full_shard'} (EmbodiedFSDPActor pid=11232) Debug::openpi, maniskill, only one task. (EmbodiedFSDPActor pid=11232) [INFO 17:01:46 TrainerGroup-Rank-2][fsdp_actor_worker.py:111] /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000, {'model_name': 'openpi', 'precision': 'bf16', 'num_action_chunks': 5, 'action_dim': 7, 'is_lora': False, 'num_images_in_input': 1, 'use_proprio': True, 'num_steps': 4, 'logprob_gather_mode': 'sum', 'openpi': {'simulator': 'maniskill', 'noise_level': 0.5, 'action_chunk': '${actor.model.num_action_chunks}', 'num_steps': '${actor.model.num_steps}', 'train_expert_only': True, 'action_env_dim': '${actor.model.action_dim}', 'noise_method': 'reinflow', 'noise_anneal': False, 'action_horizon': 8, 'noise_params': [0.16, 0.12, 200], 'adv_method': 'ppo', 'pi05': True, 'value_after_vlm': True, 'joint_logprob': True}, 'policy_setup': 'widowx_bridge', 'sharding_strategy': 'full_shard'} (EmbodiedFSDPActor pid=11233) Debug::openpi, maniskill, only one task. (EmbodiedFSDPActor pid=11233) [INFO 17:01:46 TrainerGroup-Rank-3][fsdp_actor_worker.py:111] /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000, {'model_name': 'openpi', 'precision': 'bf16', 'num_action_chunks': 5, 'action_dim': 7, 'is_lora': False, 'num_images_in_input': 1, 'use_proprio': True, 'num_steps': 4, 'logprob_gather_mode': 'sum', 'openpi': {'simulator': 'maniskill', 'noise_level': 0.5, 'action_chunk': '${actor.model.num_action_chunks}', 'num_steps': '${actor.model.num_steps}', 'train_expert_only': True, 'action_env_dim': '${actor.model.action_dim}', 'noise_method': 'reinflow', 'noise_anneal': False, 'action_horizon': 8, 'noise_params': [0.16, 0.12, 200], 'adv_method': 'ppo', 'pi05': True, 'value_after_vlm': True, 'joint_logprob': True}, 'policy_setup': 'widowx_bridge', 'sharding_strategy': 'full_shard'} (EmbodiedFSDPActor pid=11234) Debug::openpi, maniskill, only one task. (EmbodiedFSDPActor pid=11234) [INFO 17:01:46 TrainerGroup-Rank-4][fsdp_actor_worker.py:111] /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000, {'model_name': 'openpi', 'precision': 'bf16', 'num_action_chunks': 5, 'action_dim': 7, 'is_lora': False, 'num_images_in_input': 1, 'use_proprio': True, 'num_steps': 4, 'logprob_gather_mode': 'sum', 'openpi': {'simulator': 'maniskill', 'noise_level': 0.5, 'action_chunk': '${actor.model.num_action_chunks}', 'num_steps': '${actor.model.num_steps}', 'train_expert_only': True, 'action_env_dim': '${actor.model.action_dim}', 'noise_method': 'reinflow', 'noise_anneal': False, 'action_horizon': 8, 'noise_params': [0.16, 0.12, 200], 'adv_method': 'ppo', 'pi05': True, 'value_after_vlm': True, 'joint_logprob': True}, 'policy_setup': 'widowx_bridge', 'sharding_strategy': 'full_shard'} (EmbodiedFSDPActor pid=11235) Debug::openpi, maniskill, only one task. (EmbodiedFSDPActor pid=11235) [INFO 17:01:46 TrainerGroup-Rank-5][fsdp_actor_worker.py:111] /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000, {'model_name': 'openpi', 'precision': 'bf16', 'num_action_chunks': 5, 'action_dim': 7, 'is_lora': False, 'num_images_in_input': 1, 'use_proprio': True, 'num_steps': 4, 'logprob_gather_mode': 'sum', 'openpi': {'simulator': 'maniskill', 'noise_level': 0.5, 'action_chunk': '${actor.model.num_action_chunks}', 'num_steps': '${actor.model.num_steps}', 'train_expert_only': True, 'action_env_dim': '${actor.model.action_dim}', 'noise_method': 'reinflow', 'noise_anneal': False, 'action_horizon': 8, 'noise_params': [0.16, 0.12, 200], 'adv_method': 'ppo', 'pi05': True, 'value_after_vlm': True, 'joint_logprob': True}, 'policy_setup': 'widowx_bridge', 'sharding_strategy': 'full_shard'} (EmbodiedFSDPActor pid=11236) Debug::openpi, maniskill, only one task. (EmbodiedFSDPActor pid=11236) [INFO 17:01:46 TrainerGroup-Rank-6][fsdp_actor_worker.py:111] /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000, {'model_name': 'openpi', 'precision': 'bf16', 'num_action_chunks': 5, 'action_dim': 7, 'is_lora': False, 'num_images_in_input': 1, 'use_proprio': True, 'num_steps': 4, 'logprob_gather_mode': 'sum', 'openpi': {'simulator': 'maniskill', 'noise_level': 0.5, 'action_chunk': '${actor.model.num_action_chunks}', 'num_steps': '${actor.model.num_steps}', 'train_expert_only': True, 'action_env_dim': '${actor.model.action_dim}', 'noise_method': 'reinflow', 'noise_anneal': False, 'action_horizon': 8, 'noise_params': [0.16, 0.12, 200], 'adv_method': 'ppo', 'pi05': True, 'value_after_vlm': True, 'joint_logprob': True}, 'policy_setup': 'widowx_bridge', 'sharding_strategy': 'full_shard'} (EmbodiedFSDPActor pid=11238) Debug::openpi, maniskill, only one task. (EmbodiedFSDPActor pid=11238) [INFO 17:01:46 TrainerGroup-Rank-7][fsdp_actor_worker.py:111] /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000, {'model_name': 'openpi', 'precision': 'bf16', 'num_action_chunks': 5, 'action_dim': 7, 'is_lora': False, 'num_images_in_input': 1, 'use_proprio': True, 'num_steps': 4, 'logprob_gather_mode': 'sum', 'openpi': {'simulator': 'maniskill', 'noise_level': 0.5, 'action_chunk': '${actor.model.num_action_chunks}', 'num_steps': '${actor.model.num_steps}', 'train_expert_only': True, 'action_env_dim': '${actor.model.action_dim}', 'noise_method': 'reinflow', 'noise_anneal': False, 'action_horizon': 8, 'noise_params': [0.16, 0.12, 200], 'adv_method': 'ppo', 'pi05': True, 'value_after_vlm': True, 'joint_logprob': True}, 'policy_setup': 'widowx_bridge', 'sharding_strategy': 'full_shard'} (EmbodiedFSDPActor pid=11230) INFO:datasets:PyTorch version 2.7.1 available. (EmbodiedFSDPActor pid=11230) INFO:datasets:TensorFlow version 2.15.0 available. (EmbodiedFSDPActor pid=11230) INFO:datasets:JAX version 0.5.3 available. (EmbodiedFSDPActor pid=11231) INFO:datasets:PyTorch version 2.7.1 available. (EmbodiedFSDPActor pid=11231) INFO:datasets:TensorFlow version 2.15.0 available. (EmbodiedFSDPActor pid=11231) INFO:datasets:JAX version 0.5.3 available. (EmbodiedFSDPActor pid=11232) INFO:datasets:PyTorch version 2.7.1 available. (EmbodiedFSDPActor pid=11232) INFO:datasets:TensorFlow version 2.15.0 available. (EmbodiedFSDPActor pid=11232) INFO:datasets:JAX version 0.5.3 available. (EmbodiedFSDPActor pid=11233) INFO:datasets:PyTorch version 2.7.1 available. (EmbodiedFSDPActor pid=11233) INFO:datasets:TensorFlow version 2.15.0 available. (EmbodiedFSDPActor pid=11233) INFO:datasets:JAX version 0.5.3 available. (EmbodiedFSDPActor pid=11234) INFO:datasets:PyTorch version 2.7.1 available. (EmbodiedFSDPActor pid=11234) INFO:datasets:TensorFlow version 2.15.0 available. (EmbodiedFSDPActor pid=11234) INFO:datasets:JAX version 0.5.3 available. (EmbodiedFSDPActor pid=11235) INFO:datasets:PyTorch version 2.7.1 available. (EmbodiedFSDPActor pid=11235) INFO:datasets:TensorFlow version 2.15.0 available. (EmbodiedFSDPActor pid=11235) INFO:datasets:JAX version 0.5.3 available. (EmbodiedFSDPActor pid=11236) INFO:datasets:PyTorch version 2.7.1 available. (EmbodiedFSDPActor pid=11236) INFO:datasets:TensorFlow version 2.15.0 available. (EmbodiedFSDPActor pid=11236) INFO:datasets:JAX version 0.5.3 available. (EmbodiedFSDPActor pid=11238) INFO:datasets:PyTorch version 2.7.1 available. (EmbodiedFSDPActor pid=11238) INFO:datasets:TensorFlow version 2.15.0 available. (EmbodiedFSDPActor pid=11238) INFO:datasets:JAX version 0.5.3 available. (EmbodiedFSDPActor pid=11230) Dynamically set assets to match checkpoint's task for norm stats (EmbodiedFSDPActor pid=11230) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (EmbodiedFSDPActor pid=11230) (EmbodiedFSDPActor pid=11230) (EmbodiedFSDPActor pid=11230) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (EmbodiedFSDPActor pid=11230) (EmbodiedFSDPActor pid=11231) Dynamically set assets to match checkpoint's task for norm stats (EmbodiedFSDPActor pid=11231) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (EmbodiedFSDPActor pid=11231) (EmbodiedFSDPActor pid=11231) (EmbodiedFSDPActor pid=11231) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (EmbodiedFSDPActor pid=11231) (EmbodiedFSDPActor pid=11232) Dynamically set assets to match checkpoint's task for norm stats (EmbodiedFSDPActor pid=11232) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (EmbodiedFSDPActor pid=11232) (EmbodiedFSDPActor pid=11232) (EmbodiedFSDPActor pid=11232) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (EmbodiedFSDPActor pid=11232) (EmbodiedFSDPActor pid=11233) Dynamically set assets to match checkpoint's task for norm stats (EmbodiedFSDPActor pid=11233) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (EmbodiedFSDPActor pid=11233) (EmbodiedFSDPActor pid=11233) (EmbodiedFSDPActor pid=11233) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (EmbodiedFSDPActor pid=11233) (EmbodiedFSDPActor pid=11234) Dynamically set assets to match checkpoint's task for norm stats (EmbodiedFSDPActor pid=11234) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (EmbodiedFSDPActor pid=11234) (EmbodiedFSDPActor pid=11234) (EmbodiedFSDPActor pid=11234) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (EmbodiedFSDPActor pid=11234) (EmbodiedFSDPActor pid=11235) Dynamically set assets to match checkpoint's task for norm stats (EmbodiedFSDPActor pid=11235) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (EmbodiedFSDPActor pid=11235) (EmbodiedFSDPActor pid=11235) (EmbodiedFSDPActor pid=11235) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (EmbodiedFSDPActor pid=11235) (EmbodiedFSDPActor pid=11236) Dynamically set assets to match checkpoint's task for norm stats (EmbodiedFSDPActor pid=11236) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (EmbodiedFSDPActor pid=11236) (EmbodiedFSDPActor pid=11236) (EmbodiedFSDPActor pid=11236) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (EmbodiedFSDPActor pid=11236) (EmbodiedFSDPActor pid=11238) Dynamically set assets to match checkpoint's task for norm stats (EmbodiedFSDPActor pid=11238) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (EmbodiedFSDPActor pid=11238) (EmbodiedFSDPActor pid=11238) (EmbodiedFSDPActor pid=11238) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (EmbodiedFSDPActor pid=11238) (EmbodiedFSDPActor pid=11235) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11235) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (EmbodiedFSDPActor pid=11235) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (EmbodiedFSDPActor pid=11235) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (EmbodiedFSDPActor pid=11235) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11235) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11235) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (EmbodiedFSDPActor pid=11235) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (EmbodiedFSDPActor pid=11235) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (EmbodiedFSDPActor pid=11235) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (EmbodiedFSDPActor pid=11235) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (EmbodiedFSDPActor pid=11235) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (EmbodiedFSDPActor pid=11235) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (EmbodiedFSDPActor pid=11235) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (EmbodiedFSDPActor pid=11235) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (EmbodiedFSDPActor pid=11235) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (EmbodiedFSDPActor pid=11235) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11232) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11232) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (EmbodiedFSDPActor pid=11232) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (EmbodiedFSDPActor pid=11232) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (EmbodiedFSDPActor pid=11232) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11232) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11232) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (EmbodiedFSDPActor pid=11232) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (EmbodiedFSDPActor pid=11232) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (EmbodiedFSDPActor pid=11232) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (EmbodiedFSDPActor pid=11232) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (EmbodiedFSDPActor pid=11232) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (EmbodiedFSDPActor pid=11232) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (EmbodiedFSDPActor pid=11232) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (EmbodiedFSDPActor pid=11232) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (EmbodiedFSDPActor pid=11232) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (EmbodiedFSDPActor pid=11232) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11231) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11231) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (EmbodiedFSDPActor pid=11231) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (EmbodiedFSDPActor pid=11234) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11234) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (EmbodiedFSDPActor pid=11234) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (EmbodiedFSDPActor pid=11238) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11238) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (EmbodiedFSDPActor pid=11238) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (EmbodiedFSDPActor pid=11231) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (EmbodiedFSDPActor pid=11231) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11231) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11231) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (EmbodiedFSDPActor pid=11231) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (EmbodiedFSDPActor pid=11231) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (EmbodiedFSDPActor pid=11231) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (EmbodiedFSDPActor pid=11231) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (EmbodiedFSDPActor pid=11231) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (EmbodiedFSDPActor pid=11231) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (EmbodiedFSDPActor pid=11231) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (EmbodiedFSDPActor pid=11231) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (EmbodiedFSDPActor pid=11231) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (EmbodiedFSDPActor pid=11231) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11233) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11233) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (EmbodiedFSDPActor pid=11233) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (EmbodiedFSDPActor pid=11234) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (EmbodiedFSDPActor pid=11234) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11234) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11234) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (EmbodiedFSDPActor pid=11234) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (EmbodiedFSDPActor pid=11234) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (EmbodiedFSDPActor pid=11234) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (EmbodiedFSDPActor pid=11234) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (EmbodiedFSDPActor pid=11234) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (EmbodiedFSDPActor pid=11234) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (EmbodiedFSDPActor pid=11234) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (EmbodiedFSDPActor pid=11234) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (EmbodiedFSDPActor pid=11234) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (EmbodiedFSDPActor pid=11234) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11238) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (EmbodiedFSDPActor pid=11238) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11238) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11238) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (EmbodiedFSDPActor pid=11238) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (EmbodiedFSDPActor pid=11238) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (EmbodiedFSDPActor pid=11238) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (EmbodiedFSDPActor pid=11238) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (EmbodiedFSDPActor pid=11238) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (EmbodiedFSDPActor pid=11238) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (EmbodiedFSDPActor pid=11238) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (EmbodiedFSDPActor pid=11238) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (EmbodiedFSDPActor pid=11238) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (EmbodiedFSDPActor pid=11238) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11233) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (EmbodiedFSDPActor pid=11233) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11233) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11233) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (EmbodiedFSDPActor pid=11233) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (EmbodiedFSDPActor pid=11233) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (EmbodiedFSDPActor pid=11233) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (EmbodiedFSDPActor pid=11233) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (EmbodiedFSDPActor pid=11233) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (EmbodiedFSDPActor pid=11233) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (EmbodiedFSDPActor pid=11233) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (EmbodiedFSDPActor pid=11233) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (EmbodiedFSDPActor pid=11233) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (EmbodiedFSDPActor pid=11233) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11230) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11230) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (EmbodiedFSDPActor pid=11230) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (EmbodiedFSDPActor pid=11236) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11236) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (EmbodiedFSDPActor pid=11236) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (EmbodiedFSDPActor pid=11230) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (EmbodiedFSDPActor pid=11230) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11230) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11230) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (EmbodiedFSDPActor pid=11230) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (EmbodiedFSDPActor pid=11230) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (EmbodiedFSDPActor pid=11230) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (EmbodiedFSDPActor pid=11230) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (EmbodiedFSDPActor pid=11230) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (EmbodiedFSDPActor pid=11230) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (EmbodiedFSDPActor pid=11230) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (EmbodiedFSDPActor pid=11230) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (EmbodiedFSDPActor pid=11230) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (EmbodiedFSDPActor pid=11230) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11236) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (EmbodiedFSDPActor pid=11236) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11236) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (EmbodiedFSDPActor pid=11236) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (EmbodiedFSDPActor pid=11236) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (EmbodiedFSDPActor pid=11236) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (EmbodiedFSDPActor pid=11236) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (EmbodiedFSDPActor pid=11236) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (EmbodiedFSDPActor pid=11236) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (EmbodiedFSDPActor pid=11236) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (EmbodiedFSDPActor pid=11236) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (EmbodiedFSDPActor pid=11236) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (EmbodiedFSDPActor pid=11236) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (EmbodiedFSDPActor pid=11236) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (EmbodiedFSDPActor pid=11235) layer_class is : PaliGemmaForConditionalGeneration (EmbodiedFSDPActor pid=11235) layer_class is : GemmaDecoderLayer (EmbodiedFSDPActor pid=11235) layer_class is : SiglipVisionEmbeddings (EmbodiedFSDPActor pid=11235) layer_class is : GemmaRMSNorm (EmbodiedFSDPActor pid=11235) layer_class is : GemmaForCausalLM (EmbodiedFSDPActor pid=11235) layer_class is : GemmaRotaryEmbedding (EmbodiedFSDPActor pid=11233) layer_class is : PaliGemmaForConditionalGeneration (EmbodiedFSDPActor pid=11233) layer_class is : GemmaDecoderLayer (EmbodiedFSDPActor pid=11233) layer_class is : SiglipVisionEmbeddings (EmbodiedFSDPActor pid=11233) layer_class is : GemmaRMSNorm (EmbodiedFSDPActor pid=11233) layer_class is : GemmaForCausalLM (EmbodiedFSDPActor pid=11233) layer_class is : GemmaRotaryEmbedding (EmbodiedFSDPActor pid=11238) layer_class is : PaliGemmaForConditionalGeneration (EmbodiedFSDPActor pid=11238) layer_class is : GemmaDecoderLayer (EmbodiedFSDPActor pid=11238) layer_class is : SiglipVisionEmbeddings (EmbodiedFSDPActor pid=11238) layer_class is : GemmaRMSNorm (EmbodiedFSDPActor pid=11238) layer_class is : GemmaForCausalLM (EmbodiedFSDPActor pid=11238) layer_class is : GemmaRotaryEmbedding (EmbodiedFSDPActor pid=11232) layer_class is : PaliGemmaForConditionalGeneration (EmbodiedFSDPActor pid=11232) layer_class is : GemmaDecoderLayer (EmbodiedFSDPActor pid=11232) layer_class is : SiglipVisionEmbeddings (EmbodiedFSDPActor pid=11232) layer_class is : GemmaRMSNorm (EmbodiedFSDPActor pid=11232) layer_class is : GemmaForCausalLM (EmbodiedFSDPActor pid=11232) layer_class is : GemmaRotaryEmbedding (EmbodiedFSDPActor pid=11231) layer_class is : PaliGemmaForConditionalGeneration (EmbodiedFSDPActor pid=11231) layer_class is : GemmaDecoderLayer (EmbodiedFSDPActor pid=11231) layer_class is : SiglipVisionEmbeddings (EmbodiedFSDPActor pid=11231) layer_class is : GemmaRMSNorm (EmbodiedFSDPActor pid=11231) layer_class is : GemmaForCausalLM (EmbodiedFSDPActor pid=11231) layer_class is : GemmaRotaryEmbedding (EmbodiedFSDPActor pid=11234) layer_class is : PaliGemmaForConditionalGeneration (EmbodiedFSDPActor pid=11234) layer_class is : GemmaDecoderLayer (EmbodiedFSDPActor pid=11234) layer_class is : SiglipVisionEmbeddings (EmbodiedFSDPActor pid=11234) layer_class is : GemmaRMSNorm (EmbodiedFSDPActor pid=11234) layer_class is : GemmaForCausalLM (EmbodiedFSDPActor pid=11234) layer_class is : GemmaRotaryEmbedding (EmbodiedFSDPActor pid=11236) layer_class is : PaliGemmaForConditionalGeneration (EmbodiedFSDPActor pid=11236) layer_class is : GemmaDecoderLayer (EmbodiedFSDPActor pid=11236) layer_class is : SiglipVisionEmbeddings (EmbodiedFSDPActor pid=11236) layer_class is : GemmaRMSNorm (EmbodiedFSDPActor pid=11236) layer_class is : GemmaForCausalLM (EmbodiedFSDPActor pid=11236) layer_class is : GemmaRotaryEmbedding (EmbodiedFSDPActor pid=11230) layer_class is : PaliGemmaForConditionalGeneration (EmbodiedFSDPActor pid=11230) layer_class is : GemmaDecoderLayer (EmbodiedFSDPActor pid=11230) layer_class is : SiglipVisionEmbeddings (EmbodiedFSDPActor pid=11230) layer_class is : GemmaRMSNorm (EmbodiedFSDPActor pid=11230) layer_class is : GemmaForCausalLM (EmbodiedFSDPActor pid=11230) layer_class is : GemmaRotaryEmbedding (MultiStepRolloutWorker pid=11252) INFO:datasets:PyTorch version 2.7.1 available. (MultiStepRolloutWorker pid=11252) INFO:datasets:TensorFlow version 2.15.0 available. (MultiStepRolloutWorker pid=11252) INFO:datasets:JAX version 0.5.3 available. (MultiStepRolloutWorker pid=11256) INFO:datasets:PyTorch version 2.7.1 available. (MultiStepRolloutWorker pid=11256) INFO:datasets:TensorFlow version 2.15.0 available. (MultiStepRolloutWorker pid=11256) INFO:datasets:JAX version 0.5.3 available. (MultiStepRolloutWorker pid=11260) INFO:datasets:PyTorch version 2.7.1 available. (MultiStepRolloutWorker pid=11260) INFO:datasets:TensorFlow version 2.15.0 available. (MultiStepRolloutWorker pid=11260) INFO:datasets:JAX version 0.5.3 available. (MultiStepRolloutWorker pid=11239) INFO:datasets:PyTorch version 2.7.1 available. (MultiStepRolloutWorker pid=11239) INFO:datasets:TensorFlow version 2.15.0 available. (MultiStepRolloutWorker pid=11239) INFO:datasets:JAX version 0.5.3 available. (MultiStepRolloutWorker pid=11266) INFO:datasets:PyTorch version 2.7.1 available. (MultiStepRolloutWorker pid=11266) INFO:datasets:TensorFlow version 2.15.0 available. (MultiStepRolloutWorker pid=11266) INFO:datasets:JAX version 0.5.3 available. (MultiStepRolloutWorker pid=11242) INFO:datasets:PyTorch version 2.7.1 available. (MultiStepRolloutWorker pid=11242) INFO:datasets:TensorFlow version 2.15.0 available. (MultiStepRolloutWorker pid=11242) INFO:datasets:JAX version 0.5.3 available. (MultiStepRolloutWorker pid=11240) INFO:datasets:PyTorch version 2.7.1 available. (MultiStepRolloutWorker pid=11240) INFO:datasets:TensorFlow version 2.15.0 available. (MultiStepRolloutWorker pid=11240) INFO:datasets:JAX version 0.5.3 available. (MultiStepRolloutWorker pid=11264) INFO:datasets:PyTorch version 2.7.1 available. (MultiStepRolloutWorker pid=11264) INFO:datasets:TensorFlow version 2.15.0 available. (MultiStepRolloutWorker pid=11264) INFO:datasets:JAX version 0.5.3 available. (MultiStepRolloutWorker pid=11252) Dynamically set assets to match checkpoint's task for norm stats (MultiStepRolloutWorker pid=11252) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (MultiStepRolloutWorker pid=11252) (MultiStepRolloutWorker pid=11252) (MultiStepRolloutWorker pid=11252) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (MultiStepRolloutWorker pid=11252) (MultiStepRolloutWorker pid=11256) Dynamically set assets to match checkpoint's task for norm stats (MultiStepRolloutWorker pid=11256) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (MultiStepRolloutWorker pid=11256) (MultiStepRolloutWorker pid=11256) (MultiStepRolloutWorker pid=11256) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (MultiStepRolloutWorker pid=11256) (MultiStepRolloutWorker pid=11260) Dynamically set assets to match checkpoint's task for norm stats (MultiStepRolloutWorker pid=11260) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (MultiStepRolloutWorker pid=11260) (MultiStepRolloutWorker pid=11260) (MultiStepRolloutWorker pid=11260) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (MultiStepRolloutWorker pid=11260) (MultiStepRolloutWorker pid=11239) Dynamically set assets to match checkpoint's task for norm stats (MultiStepRolloutWorker pid=11239) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (MultiStepRolloutWorker pid=11239) (MultiStepRolloutWorker pid=11239) (MultiStepRolloutWorker pid=11239) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (MultiStepRolloutWorker pid=11239) (MultiStepRolloutWorker pid=11266) Dynamically set assets to match checkpoint's task for norm stats (MultiStepRolloutWorker pid=11266) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (MultiStepRolloutWorker pid=11266) (MultiStepRolloutWorker pid=11266) (MultiStepRolloutWorker pid=11266) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (MultiStepRolloutWorker pid=11266) (MultiStepRolloutWorker pid=11242) Dynamically set assets to match checkpoint's task for norm stats (MultiStepRolloutWorker pid=11242) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (MultiStepRolloutWorker pid=11242) (MultiStepRolloutWorker pid=11242) (MultiStepRolloutWorker pid=11242) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (MultiStepRolloutWorker pid=11242) (MultiStepRolloutWorker pid=11240) Dynamically set assets to match checkpoint's task for norm stats (MultiStepRolloutWorker pid=11240) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (MultiStepRolloutWorker pid=11240) (MultiStepRolloutWorker pid=11240) (MultiStepRolloutWorker pid=11240) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (MultiStepRolloutWorker pid=11240) (MultiStepRolloutWorker pid=11264) Dynamically set assets to match checkpoint's task for norm stats (MultiStepRolloutWorker pid=11264) new_assets=AssetsConfig(assets_dir='./checkpoints/torch/pi0_maniskill/assets', asset_id='PutOnPlateInScene25Main-v3/meta') (MultiStepRolloutWorker pid=11264) (MultiStepRolloutWorker pid=11264) (MultiStepRolloutWorker pid=11264) Loading model from: /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/model.safetensors (MultiStepRolloutWorker pid=11264) (MultiStepRolloutWorker pid=11252) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11252) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (MultiStepRolloutWorker pid=11252) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (MultiStepRolloutWorker pid=11266) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11266) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (MultiStepRolloutWorker pid=11266) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (MultiStepRolloutWorker pid=11240) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11240) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (MultiStepRolloutWorker pid=11240) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (MultiStepRolloutWorker pid=11252) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (MultiStepRolloutWorker pid=11252) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11252) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11252) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (MultiStepRolloutWorker pid=11252) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (MultiStepRolloutWorker pid=11252) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (MultiStepRolloutWorker pid=11252) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (MultiStepRolloutWorker pid=11252) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (MultiStepRolloutWorker pid=11252) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (MultiStepRolloutWorker pid=11252) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (MultiStepRolloutWorker pid=11252) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (MultiStepRolloutWorker pid=11252) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (MultiStepRolloutWorker pid=11252) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (MultiStepRolloutWorker pid=11252) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11266) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (MultiStepRolloutWorker pid=11266) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11266) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11266) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (MultiStepRolloutWorker pid=11266) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (MultiStepRolloutWorker pid=11266) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (MultiStepRolloutWorker pid=11266) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (MultiStepRolloutWorker pid=11266) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (MultiStepRolloutWorker pid=11266) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (MultiStepRolloutWorker pid=11266) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (MultiStepRolloutWorker pid=11266) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (MultiStepRolloutWorker pid=11266) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (MultiStepRolloutWorker pid=11266) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (MultiStepRolloutWorker pid=11266) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11240) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (MultiStepRolloutWorker pid=11240) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11240) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11240) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (MultiStepRolloutWorker pid=11240) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (MultiStepRolloutWorker pid=11240) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (MultiStepRolloutWorker pid=11240) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (MultiStepRolloutWorker pid=11240) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (MultiStepRolloutWorker pid=11240) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (MultiStepRolloutWorker pid=11240) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (MultiStepRolloutWorker pid=11240) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (MultiStepRolloutWorker pid=11240) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (MultiStepRolloutWorker pid=11240) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (MultiStepRolloutWorker pid=11240) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11260) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11260) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (MultiStepRolloutWorker pid=11260) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (MultiStepRolloutWorker pid=11260) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (MultiStepRolloutWorker pid=11260) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11260) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11260) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (MultiStepRolloutWorker pid=11260) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11260) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (MultiStepRolloutWorker pid=11260) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (MultiStepRolloutWorker pid=11260) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (MultiStepRolloutWorker pid=11260) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (MultiStepRolloutWorker pid=11260) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (MultiStepRolloutWorker pid=11260) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (MultiStepRolloutWorker pid=11260) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (MultiStepRolloutWorker pid=11260) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (MultiStepRolloutWorker pid=11260) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (MultiStepRolloutWorker pid=11256) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11256) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (MultiStepRolloutWorker pid=11256) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (MultiStepRolloutWorker pid=11256) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (MultiStepRolloutWorker pid=11256) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11256) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11256) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (MultiStepRolloutWorker pid=11256) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (MultiStepRolloutWorker pid=11256) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (MultiStepRolloutWorker pid=11256) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (MultiStepRolloutWorker pid=11256) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (MultiStepRolloutWorker pid=11256) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (MultiStepRolloutWorker pid=11256) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (MultiStepRolloutWorker pid=11256) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (MultiStepRolloutWorker pid=11256) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (MultiStepRolloutWorker pid=11256) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (MultiStepRolloutWorker pid=11256) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11242) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11242) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (MultiStepRolloutWorker pid=11242) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (MultiStepRolloutWorker pid=11242) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (MultiStepRolloutWorker pid=11242) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11242) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11242) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (MultiStepRolloutWorker pid=11242) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (MultiStepRolloutWorker pid=11242) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (MultiStepRolloutWorker pid=11242) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (MultiStepRolloutWorker pid=11242) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (MultiStepRolloutWorker pid=11242) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (MultiStepRolloutWorker pid=11242) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (MultiStepRolloutWorker pid=11242) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (MultiStepRolloutWorker pid=11242) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (MultiStepRolloutWorker pid=11242) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (MultiStepRolloutWorker pid=11242) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11264) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11264) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (MultiStepRolloutWorker pid=11264) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (MultiStepRolloutWorker pid=11239) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11239) actor_train_config.assets_dirs=/mnt/mnt/public/username/RLinf/assets/pi05_maniskill (MultiStepRolloutWorker pid=11239) actor_model_config=Pi0Config(action_dim=32, action_horizon=8, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, noise_level=0.5, action_chunk=5, train_expert_only=True, action_env_dim=7, num_steps=4, noise_method='reinflow', safe_get_logprob=False, joint_logprob=True, double_layer=False, is_simple_critic=False, detach_critic_input=False, chunk_critic_input=False, adv_method='ppo', noise_anneal=False, noise_params=[0.16, 0.12, 200], ignore_last=False, value_after_vlm=True, value_vlm_mode='mean_token', simulator='maniskill') (MultiStepRolloutWorker pid=11264) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (MultiStepRolloutWorker pid=11264) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11264) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11264) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (MultiStepRolloutWorker pid=11264) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (MultiStepRolloutWorker pid=11264) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (MultiStepRolloutWorker pid=11264) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (MultiStepRolloutWorker pid=11264) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (MultiStepRolloutWorker pid=11264) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (MultiStepRolloutWorker pid=11264) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (MultiStepRolloutWorker pid=11264) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (MultiStepRolloutWorker pid=11264) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (MultiStepRolloutWorker pid=11264) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (MultiStepRolloutWorker pid=11264) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11239) data_config=DataConfig(repo_id='physical-intelligence/maniskill', root=None, episodes=None, asset_id='PutOnPlateInScene25Main-v3/meta', norm_stats=None, repack_transforms=Group(inputs=[RepackTransform(structure={'observation/image': 'observation.images.top', 'observation/state': 'observation.state', 'actions': 'actions', 'prompt': 'prompt'})], outputs=()), data_transforms=Group(inputs=[SimplerInputs(model_type=)], outputs=[SimplerOutputs()]), model_transforms=Group(inputs=[InjectDefaultPrompt(prompt=None), ResizeImages(height=224, width=224), TokenizePrompt(tokenizer=, discrete_state_input=False), PadStatesAndActions(model_action_dim=32)], outputs=()), use_quantile_norm=True, action_sequence_keys=('actions',), prompt_from_task=True, rlds_data_dir=None, action_space=None, filter_dict_path=None) (MultiStepRolloutWorker pid=11239) data_config.asset_id=PutOnPlateInScene25Main-v3/meta (MultiStepRolloutWorker pid=11239) $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ (MultiStepRolloutWorker pid=11239) Debug:::output_transforms=[Unnormalize(norm_stats={'state': NormStats(mean=array([ 7.71519293e-02, 1.75626420e-01, 3.29782034e-01, -1.28177507e-04, (MultiStepRolloutWorker pid=11239) 1.05328217e+00, 2.88058839e-01, 3.26875422e-02, 3.20219144e-02]), std=array([0.15682525, 0.17647294, 0.24448784, 0.00837686, 0.16392024, (MultiStepRolloutWorker pid=11239) 0.87625901, 0.00460131, 0.00504135]), q01=array([-0.20252828, -0.21026643, -0.21924416, -0.01777369, 0.82260103, (MultiStepRolloutWorker pid=11239) -1.51343261, 0.02185983, 0.02107815]), q99=array([0.41199416, 0.48613785, 0.74634737, 0.01653431, 1.41699028, (MultiStepRolloutWorker pid=11239) 1.87750471, 0.037 , 0.037 ])), 'actions': NormStats(mean=array([ 2.78912108e-04, 9.36933201e-04, -2.91842972e-03, -8.22854522e-05, (MultiStepRolloutWorker pid=11239) -1.12549427e-03, -5.65734553e-03, 4.47328023e-01]), std=array([0.00770693, 0.00830911, 0.01254204, 0.00175272, 0.00556794, (MultiStepRolloutWorker pid=11239) 0.05726388, 0.89437076]), q01=array([-0.02504456, -0.03014469, -0.03136834, -0.00598121, -0.02122248, (MultiStepRolloutWorker pid=11239) -0.20235729, -1. ]), q99=array([0.0285811 , 0.03280403, 0.03535533, 0.00598072, 0.01388326, (MultiStepRolloutWorker pid=11239) 0.20489331, 1. ]))}, use_quantiles=True), SimplerOutputs()] (MultiStepRolloutWorker pid=11239) INFO:root:Norm stats not found in checkpoints/torch/pi0_maniskill/assets/PutOnPlateInScene25Main-v3/meta, skipping. (MultiStepRolloutWorker pid=11239) INFO:root:Loaded norm stats from /mnt/mnt/public/username/openpi-main/checkpoints/sft/pi05_maniskill/PutOnPlateInScene25Main-v3/1000/assets/PutOnPlateInScene25Main-v3/meta (EnvWorker pid=11271) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11294) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11290) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11270) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11278) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11286) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11279) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11299) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11271) 2025-10-28 17:05:38,122 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11270) 2025-10-28 17:05:38,055 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11278) 2025-10-28 17:05:38,055 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11294) 2025-10-28 17:05:38,165 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11290) 2025-10-28 17:05:38,167 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11286) 2025-10-28 17:05:38,465 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11299) 2025-10-28 17:05:38,559 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11279) 2025-10-28 17:05:38,564 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11286) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11279) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11271) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11294) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11290) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11270) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11278) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11299) xyz_configs: (784, 2, 3) quat_configs: (4, 2, 4) (EnvWorker pid=11286) 2025-10-28 17:05:47,705 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11279) 2025-10-28 17:05:47,831 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11271) 2025-10-28 17:05:47,960 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11294) 2025-10-28 17:05:47,935 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11290) 2025-10-28 17:05:47,959 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11270) 2025-10-28 17:05:47,972 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11278) 2025-10-28 17:05:47,958 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint (EnvWorker pid=11299) 2025-10-28 17:05:47,981 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_flat_table. Assuming the first joint is the control joint and the second joint is the mimic joint Warning: Could not save model architecture: 'WorkerGroup' object has no attribute 'model' Model config saved to: /mnt/mnt/public/username/RLinf/logs/pi05-main-newhyper-reinflow/seed0/20251028-17:00:50/model_config.yaml 0%| | 0/1000 [00:00