WARNING:lerobot.utils.import_utils:Could not load libtorchcodec. Likely causes:
          1. FFmpeg is not properly installed in your environment. We support
             versions 4, 5, 6, 7, and 8, and we attempt to load libtorchcodec
             for each of those versions. Errors for versions not installed on
             your system are expected; only the error for your installed FFmpeg
             version is relevant. On Windows, ensure you've installed the
             "full-shared" version which ships DLLs.
          2. The PyTorch version (2.11.0+cu128) is not compatible with
             this version of TorchCodec. Refer to the version compatibility
             table:
             https://github.com/pytorch/torchcodec?tab=readme-ov-file#installing-torchcodec.
          3. Another runtime dependency; see exceptions below.

        The following exceptions were raised as we tried to load libtorchcodec:
        
[start of libtorchcodec loading traceback]
FFmpeg version 8:
Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1503, in load_library
    ctypes.CDLL(path)
  File "/home/bibi/.local/share/uv/python/cpython-3.12.15-linux-x86_64-gnu/lib/python3.12/ctypes/__init__.py", line 379, in __init__
    self._handle = _dlopen(self._name, mode)
                   ^^^^^^^^^^^^^^^^^^^^^^^^^
OSError: libavutil.so.60: cannot open shared object file: No such file or directory

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/_internally_replaced_utils.py", line 93, in load_torchcodec_shared_libraries
    torch.ops.load_library(core_library_path)
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1505, in load_library
    raise OSError(f"Could not load this library: {path}") from e
OSError: Could not load this library: /home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/libtorchcodec_core8.so

FFmpeg version 7:
Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1503, in load_library
    ctypes.CDLL(path)
  File "/home/bibi/.local/share/uv/python/cpython-3.12.15-linux-x86_64-gnu/lib/python3.12/ctypes/__init__.py", line 379, in __init__
    self._handle = _dlopen(self._name, mode)
                   ^^^^^^^^^^^^^^^^^^^^^^^^^
OSError: libavutil.so.59: cannot open shared object file: No such file or directory

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/_internally_replaced_utils.py", line 93, in load_torchcodec_shared_libraries
    torch.ops.load_library(core_library_path)
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1505, in load_library
    raise OSError(f"Could not load this library: {path}") from e
OSError: Could not load this library: /home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/libtorchcodec_core7.so

FFmpeg version 6:
Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1503, in load_library
    ctypes.CDLL(path)
  File "/home/bibi/.local/share/uv/python/cpython-3.12.15-linux-x86_64-gnu/lib/python3.12/ctypes/__init__.py", line 379, in __init__
    self._handle = _dlopen(self._name, mode)
                   ^^^^^^^^^^^^^^^^^^^^^^^^^
OSError: libavutil.so.58: cannot open shared object file: No such file or directory

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/_internally_replaced_utils.py", line 93, in load_torchcodec_shared_libraries
    torch.ops.load_library(core_library_path)
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1505, in load_library
    raise OSError(f"Could not load this library: {path}") from e
OSError: Could not load this library: /home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/libtorchcodec_core6.so

FFmpeg version 5:
Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1503, in load_library
    ctypes.CDLL(path)
  File "/home/bibi/.local/share/uv/python/cpython-3.12.15-linux-x86_64-gnu/lib/python3.12/ctypes/__init__.py", line 379, in __init__
    self._handle = _dlopen(self._name, mode)
                   ^^^^^^^^^^^^^^^^^^^^^^^^^
OSError: libavutil.so.57: cannot open shared object file: No such file or directory

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/_internally_replaced_utils.py", line 93, in load_torchcodec_shared_libraries
    torch.ops.load_library(core_library_path)
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1505, in load_library
    raise OSError(f"Could not load this library: {path}") from e
OSError: Could not load this library: /home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/libtorchcodec_core5.so

FFmpeg version 4:
Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1503, in load_library
    ctypes.CDLL(path)
  File "/home/bibi/.local/share/uv/python/cpython-3.12.15-linux-x86_64-gnu/lib/python3.12/ctypes/__init__.py", line 379, in __init__
    self._handle = _dlopen(self._name, mode)
                   ^^^^^^^^^^^^^^^^^^^^^^^^^
OSError: libavutil.so.56: cannot open shared object file: No such file or directory

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/_internally_replaced_utils.py", line 93, in load_torchcodec_shared_libraries
    torch.ops.load_library(core_library_path)
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1505, in load_library
    raise OSError(f"Could not load this library: {path}") from e
OSError: Could not load this library: /home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/libtorchcodec_core4.so
[end of libtorchcodec loading traceback].
'torchcodec' is installed but cannot be loaded (see the error above). Falling back to 'pyav' as a default decoder.
WARNING:lerobot.utils.import_utils:Could not load libtorchcodec. Likely causes:
          1. FFmpeg is not properly installed in your environment. We support
             versions 4, 5, 6, 7, and 8, and we attempt to load libtorchcodec
             for each of those versions. Errors for versions not installed on
             your system are expected; only the error for your installed FFmpeg
             version is relevant. On Windows, ensure you've installed the
             "full-shared" version which ships DLLs.
          2. The PyTorch version (2.11.0+cu128) is not compatible with
             this version of TorchCodec. Refer to the version compatibility
             table:
             https://github.com/pytorch/torchcodec?tab=readme-ov-file#installing-torchcodec.
          3. Another runtime dependency; see exceptions below.

        The following exceptions were raised as we tried to load libtorchcodec:
        
[start of libtorchcodec loading traceback]
FFmpeg version 8:
Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1503, in load_library
    ctypes.CDLL(path)
  File "/home/bibi/.local/share/uv/python/cpython-3.12.15-linux-x86_64-gnu/lib/python3.12/ctypes/__init__.py", line 379, in __init__
    self._handle = _dlopen(self._name, mode)
                   ^^^^^^^^^^^^^^^^^^^^^^^^^
OSError: libavutil.so.60: cannot open shared object file: No such file or directory

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/_internally_replaced_utils.py", line 93, in load_torchcodec_shared_libraries
    torch.ops.load_library(core_library_path)
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1505, in load_library
    raise OSError(f"Could not load this library: {path}") from e
OSError: Could not load this library: /home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/libtorchcodec_core8.so

FFmpeg version 7:
Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1503, in load_library
    ctypes.CDLL(path)
  File "/home/bibi/.local/share/uv/python/cpython-3.12.15-linux-x86_64-gnu/lib/python3.12/ctypes/__init__.py", line 379, in __init__
    self._handle = _dlopen(self._name, mode)
                   ^^^^^^^^^^^^^^^^^^^^^^^^^
OSError: libavutil.so.59: cannot open shared object file: No such file or directory

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/_internally_replaced_utils.py", line 93, in load_torchcodec_shared_libraries
    torch.ops.load_library(core_library_path)
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1505, in load_library
    raise OSError(f"Could not load this library: {path}") from e
OSError: Could not load this library: /home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/libtorchcodec_core7.so

FFmpeg version 6:
Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1503, in load_library
    ctypes.CDLL(path)
  File "/home/bibi/.local/share/uv/python/cpython-3.12.15-linux-x86_64-gnu/lib/python3.12/ctypes/__init__.py", line 379, in __init__
    self._handle = _dlopen(self._name, mode)
                   ^^^^^^^^^^^^^^^^^^^^^^^^^
OSError: libavutil.so.58: cannot open shared object file: No such file or directory

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/_internally_replaced_utils.py", line 93, in load_torchcodec_shared_libraries
    torch.ops.load_library(core_library_path)
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1505, in load_library
    raise OSError(f"Could not load this library: {path}") from e
OSError: Could not load this library: /home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/libtorchcodec_core6.so

FFmpeg version 5:
Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1503, in load_library
    ctypes.CDLL(path)
  File "/home/bibi/.local/share/uv/python/cpython-3.12.15-linux-x86_64-gnu/lib/python3.12/ctypes/__init__.py", line 379, in __init__
    self._handle = _dlopen(self._name, mode)
                   ^^^^^^^^^^^^^^^^^^^^^^^^^
OSError: libavutil.so.57: cannot open shared object file: No such file or directory

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/_internally_replaced_utils.py", line 93, in load_torchcodec_shared_libraries
    torch.ops.load_library(core_library_path)
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1505, in load_library
    raise OSError(f"Could not load this library: {path}") from e
OSError: Could not load this library: /home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/libtorchcodec_core5.so

FFmpeg version 4:
Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1503, in load_library
    ctypes.CDLL(path)
  File "/home/bibi/.local/share/uv/python/cpython-3.12.15-linux-x86_64-gnu/lib/python3.12/ctypes/__init__.py", line 379, in __init__
    self._handle = _dlopen(self._name, mode)
                   ^^^^^^^^^^^^^^^^^^^^^^^^^
OSError: libavutil.so.56: cannot open shared object file: No such file or directory

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/_internally_replaced_utils.py", line 93, in load_torchcodec_shared_libraries
    torch.ops.load_library(core_library_path)
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torch/_ops.py", line 1505, in load_library
    raise OSError(f"Could not load this library: {path}") from e
OSError: Could not load this library: /home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/torchcodec/libtorchcodec_core4.so
[end of libtorchcodec loading traceback].
'torchcodec' is installed but cannot be loaded (see the error above). Falling back to 'pyav' as a default decoder.
INFO 2026-10-10 12:55:07 ot_train.py:580 {'accelerator': {'activation_checkpointing': {'mode': <ActivationCheckpointingMode.NONE: 'none'>},
                 'compile': {'backend': 'inductor',
                             'enabled': False,
                             'mode': None,
                             'regional': True},
                 'ddp': {'find_unused_parameters': True,
                         'gradient_as_bucket_view': False,
                         'static_graph': False},
                 'fsdp': {'cpu_offload': False,
                          'ignored_modules': None,
                          'min_num_params': None,
                          'reshard_after_forward': True,
                          'wrap_modules': None},
                 'grad_scaler': {'backoff_factor': 0.5,
                                 'growth_factor': 2.0,
                                 'growth_interval': 2000,
                                 'init_scale': 65536.0},
                 'gradient_accumulation': {'steps': 1},
                 'mixed_precision': 'no'},
 'batch_size': 256,
 'checkpoint_format': <CheckpointFormat.SAFETENSORS: 'safetensors'>,
 'checkpoint_path': None,
 'cudnn_deterministic': False,
 'dataloader_multiprocessing_context': 'spawn',
 'dataset': {'depth_output_unit': 'mm',
             'episodes': None,
             'eval_split': 0.0,
             'exclude_episodes': None,
             'image_transforms': {'backend': 'dataloader',
                                  'enable': False,
                                  'gpu_chunk_size': 32,
                                  'gpu_compile': True,
                                  'max_num_transforms': 3,
                                  'random_order': False,
                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
                                                                            5.0],
                                                                'translate': [0.05,
                                                                              0.05]},
                                                     'type': 'RandomAffine',
                                                     'weight': 1.0},
                                          'brightness': {'kwargs': {'brightness': [0.8,
                                                                                   1.2]},
                                                         'type': 'ColorJitter',
                                                         'weight': 1.0},
                                          'contrast': {'kwargs': {'contrast': [0.8,
                                                                               1.2]},
                                                       'type': 'ColorJitter',
                                                       'weight': 1.0},
                                          'hue': {'kwargs': {'hue': [-0.05,
                                                                     0.05]},
                                                  'type': 'ColorJitter',
                                                  'weight': 1.0},
                                          'saturation': {'kwargs': {'saturation': [0.5,
                                                                                   1.5]},
                                                         'type': 'ColorJitter',
                                                         'weight': 1.0},
                                          'sharpness': {'kwargs': {'sharpness': [0.5,
                                                                                 1.5]},
                                                        'type': 'SharpnessJitter',
                                                        'weight': 1.0}}},
             'repo_id': 'lerobot/pusht',
             'repo_type': 'dataset',
             'return_uint8': False,
             'revision': None,
             'root': None,
             'streaming': False,
             'streaming_byte_budget_gb': 8.0,
             'streaming_decode_threads': 2,
             'streaming_decoded_queue_size': 8,
             'streaming_episode_pool_size': 32,
             'streaming_native_http_connections': None,
             'streaming_native_http_subranges': 1,
             'streaming_prefetch_episodes': 8,
             'streaming_sampling_strategy': <StreamingSamplingStrategy.REMAINING: 'remaining'>,
             'use_imagenet_stats': True,
             'video_backend': 'pyav',
             'video_decoder_cache_size': None},
 'ema': {'decay': None,
         'enable': True,
         'inv_gamma': 1.0,
         'max_decay': 0.9999,
         'min_decay': 0.0,
         'power': 0.75,
         'update_after_step': 0,
         'use_for_eval': True},
 'env': {'disable_env_checker': True,
         'episode_length': 300,
         'features': {'action': {'shape': [2],
                                 'type': <FeatureType.ACTION: 'ACTION'>},
                      'agent_pos': {'shape': [2],
                                    'type': <FeatureType.STATE: 'STATE'>},
                      'pixels': {'shape': [384, 384, 3],
                                 'type': <FeatureType.VISUAL: 'VISUAL'>}},
         'features_map': {'action': 'action',
                          'agent_pos': 'observation.state',
                          'environment_state': 'observation.environment_state',
                          'pixels': 'observation.image'},
         'fps': 10,
         'max_parallel_tasks': 1,
         'obs_type': 'pixels_agent_pos',
         'observation_height': 384,
         'observation_width': 384,
         'render_mode': 'rgb_array',
         'task': 'PushT-v0',
         'type': 'pusht',
         'visualization_height': 384,
         'visualization_width': 384},
 'env_eval_freq': 5000,
 'eval': {'batch_size': 20,
          'n_episodes': 20,
          'recording': False,
          'recording_private': False,
          'recording_repo_id': None,
          'use_async_envs': False},
 'eval_steps': 0,
 'job': {'detach': False,
         'image': 'huggingface/lerobot-gpu:latest',
         'tags': [],
         'target': None,
         'timeout': '2d'},
 'job_name': 'pusht_diffusion',
 'log_freq': 50,
 'max_eval_samples': 0,
 'num_workers': 8,
 'optimizer': {'betas': [0.95, 0.999],
               'eps': 1e-08,
               'grad_clip_norm': 10.0,
               'lr': 0.0001,
               'type': 'adam',
               'weight_decay': 1e-06},
 'output_dir': 'outputs/train/diffusion_pusht_long',
 'parallelism': {'cfg_parallel': 1,
                 'context_parallel': {'ring_degree': 1, 'ulysses_degree': 1},
                 'dp_replicate': 1,
                 'dp_shard': 1},
 'peft': None,
 'persistent_workers': True,
 'policy': {'beta_end': 0.02,
            'beta_schedule': 'squaredcos_cap_v2',
            'beta_start': 0.0001,
            'clip_sample': True,
            'clip_sample_range': 1.0,
            'compile_mode': 'reduce-overhead',
            'compile_model': False,
            'crop_is_random': True,
            'crop_ratio': 1.0,
            'crop_shape': None,
            'device': 'cuda',
            'diffusion_step_embed_dim': 128,
            'do_mask_loss_for_padding': False,
            'down_dims': [512, 1024, 2048],
            'drop_n_last_frames': 7,
            'dtype': None,
            'gradient_checkpointing': False,
            'horizon': 64,
            'input_features': {},
            'kernel_size': 5,
            'license': None,
            'n_action_steps': 32,
            'n_groups': 8,
            'n_obs_steps': 2,
            'noise_scheduler_type': 'DDPM',
            'normalization_mapping': {'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>,
                                      'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>,
                                      'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>},
            'num_inference_steps': None,
            'num_train_timesteps': 100,
            'optimizer_betas': [0.95, 0.999],
            'optimizer_eps': 1e-08,
            'optimizer_lr': 0.0001,
            'optimizer_weight_decay': 1e-06,
            'output_features': {},
            'prediction_type': 'epsilon',
            'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1',
            'pretrained_path': None,
            'pretrained_revision': None,
            'private': None,
            'push_to_hub': True,
            'repo_id': 'NLTuan/diffusion_pusht_long',
            'resize_shape': None,
            'scheduler_name': 'cosine',
            'scheduler_warmup_steps': 500,
            'spatial_softmax_num_keypoints': 32,
            'tags': None,
            'type': 'diffusion',
            'use_amp': False,
            'use_film_scale_modulation': True,
            'use_group_norm': False,
            'use_peft': False,
            'use_separate_rgb_encoder_per_camera': True,
            'vision_backbone': 'resnet18'},
 'prefetch_factor': 4,
 'rename_map': {},
 'resume': False,
 'reward_model': None,
 'sample_weighting': None,
 'save_checkpoint': True,
 'save_checkpoint_to_hub': False,
 'save_freq': 5000,
 'scheduler': {'name': 'cosine', 'num_warmup_steps': 500, 'type': 'diffuser'},
 'seed': 1000,
 'steps': 40000,
 'tolerance_s': 0.0001,
 'use_policy_training_preset': True,
 'wandb': {'add_tags': True,
           'console': 'wrap',
           'console_chunk_max_seconds': 0,
           'console_multipart': False,
           'disable_artifact': False,
           'enable': True,
           'entity': 'thav_-vanier-research-ai',
           'mode': None,
           'notes': None,
           'project': 'diffusion_pusht_long',
           'resume': None,
           'run_id': None}}
INFO 2026-10-10 12:55:08 db_utils.py:124 Logs will be synced with wandb.
INFO 2026-10-10 12:55:08 db_utils.py:125 Track this run --> https://wandb.ai/thav_-vanier-research-ai/diffusion_pusht_long/runs/ey47cpty
INFO 2026-10-10 12:55:08 ot_train.py:602 Creating dataset

Fetching 4 files:   0%|          | 0/4 [00:00<?, ?it/s]
Fetching 4 files: 100%|██████████| 4/4 [00:00<00:00, 2836.86it/s]

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INFO 2026-10-10 12:55:09 ot_train.py:638 Creating policy
INFO 2026-10-10 12:55:09 ot_train.py:733 Creating optimizer and scheduler
INFO 2026-10-10 12:55:09 ot_train.py:793 Output dir: outputs/train/diffusion_pusht_long
INFO 2026-10-10 12:55:09 ot_train.py:795 cfg.env.task='PushT-v0'
INFO 2026-10-10 12:55:09 ot_train.py:796 Creating environment processors
INFO 2026-10-10 12:55:09 ot_train.py:800 cfg.steps=40000 (40K)
INFO 2026-10-10 12:55:09 ot_train.py:801 dataset.num_frames=25650 (26K)
INFO 2026-10-10 12:55:09 ot_train.py:802 dataset.num_episodes=206
INFO 2026-10-10 12:55:09 ot_train.py:803 Effective batch size: 256 x 1 dp workers x 1 grad accum = 256 (topology: dp_replicate=1, dp_shard=1)
INFO 2026-10-10 12:55:09 ot_train.py:808 num_learnable_params=262709026 (263M)
INFO 2026-10-10 12:55:09 ot_train.py:809 num_total_params=262709026 (263M)
INFO 2026-10-10 12:55:09 ot_train.py:850 EMA enabled: max_decay=0.9999, inv_gamma=1, power=0.75, update_after_step=0, use_for_eval=True

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Training:   2%|▏         | 700/40000 [04:11<3:20:56,  3.26step/s]INFO 2026-10-10 12:59:21 ot_train.py:970 step:700 smpl:179K ep:1K epch:6.99 loss:0.037 grdn:1.067 lr:1.0e-04 data_s:0.026 prep_s:0.001 updt_s:0.292 step_s:0.319 smp/s:802 mem_gb:8.48

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Training:   2%|▏         | 750/40000 [04:26<3:20:05,  3.27step/s]INFO 2026-10-10 12:59:36 ot_train.py:970 step:750 smpl:192K ep:2K epch:7.49 loss:0.034 grdn:0.871 lr:1.0e-04 data_s:0.009 prep_s:0.001 updt_s:0.294 step_s:0.304 smp/s:843 mem_gb:8.52

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Training:   2%|▏         | 900/40000 [05:14<3:20:00,  3.26step/s]INFO 2026-10-10 13:00:24 ot_train.py:970 step:900 smpl:230K ep:2K epch:8.98 loss:0.032 grdn:0.891 lr:1.0e-04 data_s:0.026 prep_s:0.001 updt_s:0.292 step_s:0.319 smp/s:803 mem_gb:8.48

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Training:   2%|▏         | 950/40000 [05:29<2:57:26,  3.67step/s]INFO 2026-10-10 13:00:39 ot_train.py:970 step:950 smpl:243K ep:2K epch:9.48 loss:0.031 grdn:0.750 lr:1.0e-04 data_s:0.009 prep_s:0.001 updt_s:0.291 step_s:0.301 smp/s:850 mem_gb:8.48

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Training:   3%|▎         | 1150/40000 [06:33<3:26:49,  3.13step/s]INFO 2026-10-10 13:01:43 ot_train.py:970 step:1K smpl:294K ep:2K epch:11.48 loss:0.028 grdn:0.580 lr:1.0e-04 data_s:0.025 prep_s:0.001 updt_s:0.292 step_s:0.318 smp/s:805 mem_gb:8.48

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Training:   5%|▌         | 2000/40000 [11:02<4:00:46,  2.63step/s]INFO 2026-10-10 13:06:12 ot_train.py:970 step:2K smpl:512K ep:4K epch:19.96 loss:0.021 grdn:0.551 lr:1.0e-04 data_s:0.030 prep_s:0.001 updt_s:0.291 step_s:0.323 smp/s:794 mem_gb:8.48

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Training:   5%|▌         | 2100/40000 [11:34<3:23:48,  3.10step/s]INFO 2026-10-10 13:06:44 ot_train.py:970 step:2K smpl:538K ep:4K epch:20.96 loss:0.021 grdn:0.421 lr:1.0e-04 data_s:0.032 prep_s:0.001 updt_s:0.292 step_s:0.324 smp/s:789 mem_gb:8.48

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Training:   7%|▋         | 2850/40000 [15:29<2:48:45,  3.67step/s]INFO 2026-10-10 13:10:39 ot_train.py:970 step:3K smpl:730K ep:6K epch:28.44 loss:0.018 grdn:0.493 lr:9.9e-05 data_s:0.009 prep_s:0.001 updt_s:0.291 step_s:0.301 smp/s:850 mem_gb:8.48

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Training:   8%|▊         | 3050/40000 [16:34<3:18:35,  3.10step/s]INFO 2026-10-10 13:11:44 ot_train.py:970 step:3K smpl:781K ep:6K epch:30.44 loss:0.018 grdn:0.429 lr:9.9e-05 data_s:0.032 prep_s:0.001 updt_s:0.292 step_s:0.324 smp/s:789 mem_gb:8.48

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Training:  12%|█▎        | 5000/40000 [26:49<2:59:02,  3.26step/s]INFO 2026-10-10 13:21:59 ot_train.py:970 step:5K smpl:1M ep:10K epch:49.90 loss:0.014 grdn:0.317 lr:9.7e-05 data_s:0.009 prep_s:0.001 updt_s:0.294 step_s:0.304 smp/s:842 mem_gb:8.52
INFO 2026-10-10 13:21:59 t_train.py:1012 Checkpoint policy after step 5000
INFO 2026-10-10 13:21:59 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/005000/pretrained_model!
INFO 2026-10-10 13:22:02 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/005000/pretrained_model_ema!
INFO 2026-10-10 13:22:04 t_train.py:1055 Eval policy at step 5000
INFO 2026-10-10 13:22:04 t_train.py:1062 Evaluating the EMA weights
/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
  from pkg_resources import resource_stream, resource_exists
gym id 'gym_pusht/PushT-v0' not found, attempting to import 'gym_pusht'...


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  check_env_attributes_and_types(env)



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Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:14<00:07, 26.46it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  31%|███       | 93/300 [00:14<00:07, 28.66it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  32%|███▏      | 95/300 [00:14<00:07, 28.66it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  32%|███▏      | 96/300 [00:15<00:07, 28.66it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:15<00:21,  9.28it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  33%|███▎      | 100/300 [00:15<00:21,  9.28it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:15<00:10, 17.94it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  39%|███▊      | 116/300 [00:16<00:08, 21.06it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  39%|███▉      | 117/300 [00:16<00:07, 24.00it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  40%|███▉      | 119/300 [00:16<00:07, 24.00it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:16<00:06, 28.52it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  42%|████▏     | 127/300 [00:16<00:06, 28.52it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 128/300 [00:17<00:06, 28.52it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:17<00:18,  9.23it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:17<00:18,  9.23it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 130/300 [00:17<00:18,  9.23it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▎     | 131/300 [00:17<00:18,  9.23it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▍     | 132/300 [00:17<00:18,  9.23it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:17<00:14, 11.87it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:17<00:14, 11.87it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  45%|████▍     | 134/300 [00:17<00:13, 11.87it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  45%|████▌     | 135/300 [00:17<00:13, 11.87it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  45%|████▌     | 136/300 [00:17<00:13, 11.87it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:17<00:10, 14.84it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:17<00:10, 14.84it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  46%|████▋     | 139/300 [00:17<00:10, 14.84it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  47%|████▋     | 140/300 [00:17<00:10, 14.84it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:17<00:08, 17.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  47%|████▋     | 142/300 [00:17<00:08, 17.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 143/300 [00:17<00:08, 17.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 144/300 [00:17<00:08, 17.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:17<00:07, 21.07it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:17<00:07, 21.07it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  49%|████▊     | 146/300 [00:17<00:07, 21.07it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  49%|████▉     | 147/300 [00:17<00:07, 21.07it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  49%|████▉     | 148/300 [00:17<00:07, 21.07it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:17<00:06, 24.04it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:17<00:06, 24.04it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  51%|█████     | 152/300 [00:18<00:06, 24.04it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:18<00:05, 26.69it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:18<00:05, 26.69it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  51%|█████▏    | 154/300 [00:18<00:05, 26.69it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 155/300 [00:18<00:05, 26.69it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 156/300 [00:18<00:05, 26.69it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:18<00:04, 28.89it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:18<00:04, 28.89it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 158/300 [00:18<00:04, 28.89it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 159/300 [00:18<00:04, 28.89it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 160/300 [00:19<00:04, 28.89it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  54%|█████▎    | 161/300 [00:19<00:14,  9.31it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  54%|█████▎    | 161/300 [00:19<00:14,  9.31it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  57%|█████▋    | 172/300 [00:19<00:08, 14.93it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 173/300 [00:19<00:07, 18.06it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  59%|█████▉    | 177/300 [00:19<00:05, 21.10it/s, running_success_rate=5.0%]


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INFO 2026-10-10 13:22:31 t_train.py:1088 Suite per_task aggregated: [{'task_group': 'pusht', 'task_id': 0, 'metrics': {'sum_rewards': [118.02862193492399, 78.76506054157085, 104.73421686051026, 31.08471910750472, 56.560402245293645, 159.32275149555772, 166.42750036668627, 124.26146724020471, 77.48249819715103, 183.36563149214413, 93.41760544519121, 98.15801915723873, 107.58993945218776, 169.89467347426836, 164.7676427952394, 179.88388934421351, 111.65925096069759, 79.7504094314076, 153.85051193704373, 123.84153563636985], 'max_rewards': [0.9498964387243691, 0.8101683888410206, 1.0, 1.0, 0.5750515860718792, 0.9266661204506943, 0.9916841773768779, 0.9513603219180277, 0.42180977770267597, 1.0, 0.5821892307259576, 1.0, 0.9719415880993849, 0.9731218883250211, 0.7068974560237685, 0.9998707383038857, 0.6821785738990064, 1.0, 0.9908028879415504, 0.9721703257204787], 'successes': [False, False, True, True, False, False, False, False, False, True, False, True, False, False, False, False, False, True, False, False], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_005000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_005000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_005000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_005000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}, 'n_episodes': 20, 'n_success': 5, 'pc_success': 25.0, 'pc_success_ci95': [11.186170140766565, 46.870087761874395]}]
INFO 2026-10-10 13:22:31 t_train.py:1088 Suite per_group aggregated: {'pusht': {'avg_sum_reward': 119.14231735577025, 'avg_max_reward': 0.8752904750062299, 'pc_success': 25.0, 'n_episodes': 20, 'n_success': 5, 'pc_success_ci95': [11.186170140766565, 46.870087761874395], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_005000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_005000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_005000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_005000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}}
INFO 2026-10-10 13:22:31 t_train.py:1088 Suite overall aggregated: {'avg_sum_reward': 119.14231735577025, 'avg_max_reward': 0.8752904750062299, 'pc_success': 25.0, 'n_episodes': 20, 'n_success': 5, 'pc_success_ci95': [11.186170140766565, 46.870087761874395], 'eval_s': 27.563284635543823, 'eval_ep_s': 1.378164255619049, 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_005000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_005000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_005000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_005000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}
WARNING 2026-10-10 13:22:31 db_utils.py:193 WandB logging of key "per_task" was ignored as its type "<class 'list'>" is not handled by this wrapper.
WARNING 2026-10-10 13:22:31 db_utils.py:193 WandB logging of key "per_group" was ignored as its type "<class 'dict'>" is not handled by this wrapper.
WARNING 2026-10-10 13:22:31 db_utils.py:193 WandB logging of key "overall" was ignored as its type "<class 'dict'>" is not handled by this wrapper.

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INFO 2026-10-10 13:48:51 t_train.py:1012 Checkpoint policy after step 10000
INFO 2026-10-10 13:48:51 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/010000/pretrained_model!
INFO 2026-10-10 13:48:53 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/010000/pretrained_model_ema!
INFO 2026-10-10 13:48:54 t_train.py:1055 Eval policy at step 10000
INFO 2026-10-10 13:48:54 t_train.py:1062 Evaluating the EMA weights


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  check_env_attributes_and_types(env)



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Running rollout with at most 300 steps:   4%|▎         | 11/300 [00:01<00:28, 10.25it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   4%|▍         | 12/300 [00:01<00:28, 10.25it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   4%|▍         | 13/300 [00:01<00:19, 14.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   4%|▍         | 13/300 [00:01<00:19, 14.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   5%|▍         | 14/300 [00:01<00:19, 14.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   5%|▌         | 15/300 [00:01<00:19, 14.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   5%|▌         | 16/300 [00:01<00:19, 14.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   6%|▌         | 17/300 [00:01<00:14, 19.13it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   6%|▌         | 17/300 [00:01<00:14, 19.13it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   6%|▌         | 18/300 [00:01<00:14, 19.13it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   6%|▋         | 19/300 [00:01<00:14, 19.13it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   7%|▋         | 20/300 [00:01<00:14, 19.13it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   7%|▋         | 21/300 [00:01<00:12, 22.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   7%|▋         | 21/300 [00:01<00:12, 22.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   7%|▋         | 22/300 [00:01<00:12, 22.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   8%|▊         | 23/300 [00:01<00:12, 22.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   8%|▊         | 24/300 [00:01<00:12, 22.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   8%|▊         | 25/300 [00:01<00:10, 26.17it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   8%|▊         | 25/300 [00:01<00:10, 26.17it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   9%|▊         | 26/300 [00:01<00:10, 26.17it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   9%|▉         | 27/300 [00:01<00:10, 26.17it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   9%|▉         | 28/300 [00:01<00:10, 26.17it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|▉         | 29/300 [00:01<00:09, 28.80it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|▉         | 29/300 [00:01<00:09, 28.80it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|█         | 30/300 [00:01<00:09, 28.80it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|█         | 31/300 [00:01<00:09, 28.80it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 32/300 [00:02<00:09, 28.80it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 33/300 [00:02<00:29,  8.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 33/300 [00:02<00:29,  8.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█▏        | 34/300 [00:03<00:29,  8.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 35/300 [00:03<00:29,  8.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 36/300 [00:03<00:29,  8.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 37/300 [00:03<00:22, 11.70it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 37/300 [00:03<00:22, 11.70it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 38/300 [00:03<00:22, 11.70it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 39/300 [00:03<00:22, 11.70it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 40/300 [00:03<00:22, 11.70it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▎        | 41/300 [00:03<00:17, 14.76it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▎        | 41/300 [00:03<00:17, 14.76it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▍        | 42/300 [00:03<00:17, 14.76it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▍        | 43/300 [00:03<00:17, 14.76it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▍        | 44/300 [00:03<00:17, 14.76it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▌        | 45/300 [00:03<00:14, 18.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▌        | 45/300 [00:03<00:14, 18.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▌        | 46/300 [00:03<00:14, 18.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▌        | 47/300 [00:03<00:14, 18.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▌        | 48/300 [00:03<00:13, 18.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▋        | 49/300 [00:03<00:11, 21.26it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▋        | 49/300 [00:03<00:11, 21.26it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 50/300 [00:03<00:11, 21.26it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 51/300 [00:03<00:11, 21.26it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 52/300 [00:03<00:11, 21.26it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 53/300 [00:03<00:10, 24.25it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 53/300 [00:03<00:10, 24.25it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 54/300 [00:03<00:10, 24.25it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 55/300 [00:03<00:10, 24.25it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▊        | 56/300 [00:03<00:10, 24.25it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 57/300 [00:03<00:09, 26.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 57/300 [00:03<00:09, 26.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 58/300 [00:03<00:08, 26.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|█▉        | 59/300 [00:03<00:08, 26.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 60/300 [00:03<00:08, 26.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 61/300 [00:03<00:08, 29.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 61/300 [00:03<00:08, 29.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  21%|██        | 62/300 [00:03<00:08, 29.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  21%|██        | 63/300 [00:03<00:08, 29.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  21%|██▏       | 64/300 [00:04<00:08, 29.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 65/300 [00:04<00:25,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 65/300 [00:04<00:25,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 66/300 [00:04<00:25,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 67/300 [00:04<00:25,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 68/300 [00:04<00:24,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 69/300 [00:04<00:19, 11.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 69/300 [00:04<00:19, 11.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 70/300 [00:05<00:19, 11.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▎       | 71/300 [00:05<00:19, 11.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 72/300 [00:05<00:19, 11.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 73/300 [00:05<00:15, 14.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 73/300 [00:05<00:15, 14.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  25%|██▍       | 74/300 [00:05<00:15, 14.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  25%|██▌       | 75/300 [00:05<00:15, 14.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  25%|██▌       | 76/300 [00:05<00:14, 14.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 77/300 [00:05<00:12, 18.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 77/300 [00:05<00:12, 18.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 78/300 [00:05<00:12, 18.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▋       | 79/300 [00:05<00:12, 18.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 80/300 [00:05<00:12, 18.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 81/300 [00:05<00:10, 21.24it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 81/300 [00:05<00:10, 21.24it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 82/300 [00:05<00:10, 21.24it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 83/300 [00:05<00:10, 21.24it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 84/300 [00:05<00:10, 21.24it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:08, 24.19it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:08, 24.19it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▊       | 86/300 [00:05<00:08, 24.19it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▉       | 87/300 [00:05<00:08, 24.19it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▉       | 88/300 [00:05<00:08, 24.19it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:07, 26.41it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:07, 26.41it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|███       | 90/300 [00:05<00:07, 26.41it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|███       | 91/300 [00:05<00:07, 26.41it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 92/300 [00:05<00:07, 26.41it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 28.68it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 28.68it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███▏      | 94/300 [00:05<00:07, 28.68it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 95/300 [00:05<00:07, 28.68it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 96/300 [00:06<00:07, 28.68it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:21,  9.28it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:21,  9.28it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 98/300 [00:06<00:21,  9.28it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 99/300 [00:06<00:21,  9.28it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 100/300 [00:06<00:21,  9.28it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 11.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 11.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▍      | 102/300 [00:06<00:16, 11.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▍      | 103/300 [00:06<00:16, 11.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▍      | 104/300 [00:06<00:16, 11.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 105/300 [00:06<00:13, 14.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 105/300 [00:06<00:13, 14.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 106/300 [00:07<00:12, 14.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▌      | 107/300 [00:07<00:12, 14.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▌      | 108/300 [00:07<00:12, 14.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:07<00:10, 18.05it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:07<00:10, 18.05it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  37%|███▋      | 110/300 [00:07<00:10, 18.05it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  37%|███▋      | 111/300 [00:07<00:10, 18.05it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  37%|███▋      | 112/300 [00:07<00:10, 18.05it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  38%|███▊      | 113/300 [00:07<00:08, 21.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  38%|███▊      | 113/300 [00:07<00:08, 21.02it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  38%|███▊      | 114/300 [00:07<00:08, 21.02it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  38%|███▊      | 115/300 [00:07<00:08, 21.02it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  39%|███▊      | 116/300 [00:07<00:08, 21.02it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  39%|███▉      | 117/300 [00:07<00:07, 23.75it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  39%|███▉      | 117/300 [00:07<00:07, 23.75it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  39%|███▉      | 118/300 [00:07<00:07, 23.75it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  40%|███▉      | 119/300 [00:07<00:07, 23.75it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  40%|████      | 120/300 [00:07<00:07, 23.75it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  40%|████      | 121/300 [00:07<00:06, 26.16it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  40%|████      | 121/300 [00:07<00:06, 26.16it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  41%|████      | 122/300 [00:07<00:06, 26.16it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  41%|████      | 123/300 [00:07<00:06, 26.16it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  41%|████▏     | 124/300 [00:07<00:06, 26.16it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 28.29it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 28.29it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  42%|████▏     | 126/300 [00:07<00:06, 28.29it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  42%|████▏     | 127/300 [00:07<00:06, 28.29it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  43%|████▎     | 128/300 [00:08<00:06, 28.29it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.23it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.23it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  43%|████▎     | 130/300 [00:08<00:18,  9.23it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  44%|████▎     | 131/300 [00:08<00:18,  9.23it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  44%|████▍     | 132/300 [00:08<00:18,  9.23it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:08<00:14, 11.83it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:08<00:14, 11.83it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  45%|████▍     | 134/300 [00:08<00:14, 11.83it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  45%|████▌     | 135/300 [00:08<00:13, 11.83it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  45%|████▌     | 136/300 [00:08<00:13, 11.83it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:11, 14.79it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:11, 14.79it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  46%|████▌     | 138/300 [00:08<00:10, 14.79it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  46%|████▋     | 139/300 [00:08<00:10, 14.79it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  47%|████▋     | 140/300 [00:08<00:10, 14.79it/s, running_success_rate=20.0%]


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Running rollout with at most 300 steps:  47%|████▋     | 142/300 [00:09<00:08, 17.94it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  48%|████▊     | 143/300 [00:09<00:08, 17.94it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  48%|████▊     | 144/300 [00:09<00:08, 17.94it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 21.04it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 21.04it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  49%|████▊     | 146/300 [00:09<00:07, 21.04it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  49%|████▉     | 147/300 [00:09<00:07, 21.04it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  49%|████▉     | 148/300 [00:09<00:07, 21.04it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:09<00:06, 23.83it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  51%|█████     | 152/300 [00:09<00:06, 23.83it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 26.26it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  51%|█████▏    | 154/300 [00:09<00:05, 26.26it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:05, 27.66it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:05, 27.66it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 158/300 [00:09<00:05, 27.66it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 159/300 [00:09<00:05, 27.66it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 160/300 [00:10<00:05, 27.66it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  54%|█████▎    | 161/300 [00:10<00:15,  9.19it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  54%|█████▍    | 163/300 [00:10<00:14,  9.19it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  55%|█████▌    | 165/300 [00:10<00:11, 11.78it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  55%|█████▌    | 166/300 [00:10<00:11, 11.78it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  56%|█████▌    | 167/300 [00:10<00:11, 11.78it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  56%|█████▌    | 168/300 [00:10<00:11, 11.78it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  56%|█████▋    | 169/300 [00:10<00:08, 14.68it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  56%|█████▋    | 169/300 [00:10<00:08, 14.68it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  57%|█████▋    | 170/300 [00:10<00:08, 14.68it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  57%|█████▋    | 171/300 [00:10<00:08, 14.68it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  57%|█████▋    | 172/300 [00:10<00:08, 14.68it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 173/300 [00:10<00:07, 17.75it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  58%|█████▊    | 174/300 [00:10<00:07, 17.75it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 175/300 [00:11<00:07, 17.75it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  59%|█████▊    | 176/300 [00:11<00:06, 17.75it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  59%|█████▉    | 177/300 [00:11<00:05, 20.76it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  59%|█████▉    | 178/300 [00:11<00:05, 20.76it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  60%|█████▉    | 179/300 [00:11<00:05, 20.76it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  60%|██████    | 181/300 [00:11<00:05, 23.59it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  61%|██████    | 182/300 [00:11<00:05, 23.59it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  61%|██████    | 183/300 [00:11<00:04, 23.59it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  61%|██████▏   | 184/300 [00:11<00:04, 23.59it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 185/300 [00:11<00:04, 26.01it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 185/300 [00:11<00:04, 26.01it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 186/300 [00:11<00:04, 26.01it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 187/300 [00:11<00:04, 26.01it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 188/300 [00:11<00:04, 26.01it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:03, 28.14it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:03, 28.14it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 190/300 [00:11<00:03, 28.14it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  64%|██████▎   | 191/300 [00:11<00:03, 28.14it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 192/300 [00:12<00:03, 28.14it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 193/300 [00:12<00:11,  9.23it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  65%|██████▌   | 196/300 [00:12<00:11,  9.23it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 197/300 [00:12<00:08, 11.83it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 197/300 [00:12<00:08, 11.83it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 198/300 [00:12<00:08, 11.83it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  66%|██████▋   | 199/300 [00:12<00:08, 11.83it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 200/300 [00:12<00:08, 11.83it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 14.76it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 14.76it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 202/300 [00:12<00:06, 14.76it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 203/300 [00:12<00:06, 14.76it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 204/300 [00:12<00:06, 14.76it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 205/300 [00:12<00:05, 17.80it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 205/300 [00:12<00:05, 17.80it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  69%|██████▊   | 206/300 [00:12<00:05, 17.80it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  69%|██████▉   | 207/300 [00:12<00:05, 17.80it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  69%|██████▉   | 208/300 [00:12<00:05, 17.80it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  70%|██████▉   | 209/300 [00:12<00:04, 20.81it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  70%|██████▉   | 209/300 [00:12<00:04, 20.81it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  70%|███████   | 210/300 [00:13<00:04, 20.81it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  71%|███████   | 212/300 [00:13<00:04, 20.81it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  71%|███████   | 213/300 [00:13<00:03, 23.55it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  71%|███████   | 213/300 [00:13<00:03, 23.55it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  71%|███████▏  | 214/300 [00:13<00:03, 23.55it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 215/300 [00:13<00:03, 23.55it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 216/300 [00:13<00:03, 23.55it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  73%|███████▎  | 218/300 [00:13<00:03, 26.05it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 219/300 [00:13<00:03, 26.05it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 220/300 [00:13<00:03, 26.05it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  74%|███████▎  | 221/300 [00:13<00:02, 28.12it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  74%|███████▎  | 221/300 [00:13<00:02, 28.12it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  74%|███████▍  | 223/300 [00:13<00:02, 28.12it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  75%|███████▍  | 224/300 [00:14<00:02, 28.12it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  75%|███████▌  | 225/300 [00:14<00:08,  9.21it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  77%|███████▋  | 232/300 [00:14<00:05, 11.81it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  78%|███████▊  | 233/300 [00:14<00:04, 14.71it/s, running_success_rate=25.0%]


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INFO 2026-10-10 13:49:14 t_train.py:1088 Suite per_task aggregated: [{'task_group': 'pusht', 'task_id': 0, 'metrics': {'sum_rewards': [25.53041722360574, 130.21624793035048, 147.92816564718365, 197.55997965671716, 55.83250054548624, 108.79947912159889, 57.26367431897295, 115.74179261658227, 42.33707144319027, 123.23850907346406, 189.00950578394531, 27.78891797659135, 83.20865768787723, 48.61088369006178, 127.7631127192563, 164.25419642424654, 44.42521837793103, 164.18816100864223, 159.0147833591781, 88.32091093577385], 'max_rewards': [1.0, 0.7152202284486209, 1.0, 0.984403779274778, 0.4665779904277631, 0.9973111538526908, 1.0, 0.994283183812729, 0.46457763897731436, 0.7114501802227994, 0.920387001268578, 1.0, 0.9679659935150482, 1.0, 0.6973238096865655, 0.9648007731901821, 1.0, 0.9509680506848452, 0.9700753861362067, 0.7538571671098389], 'successes': [True, False, True, False, False, False, True, False, False, False, False, True, False, True, False, False, True, False, False, False], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_010000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_010000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_010000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_010000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}, 'n_episodes': 20, 'n_success': 6, 'pc_success': 30.0, 'pc_success_ci95': [14.54772448676043, 51.89728183535234]}]
INFO 2026-10-10 13:49:14 t_train.py:1088 Suite per_group aggregated: {'pusht': {'avg_sum_reward': 105.05160927703278, 'avg_max_reward': 0.877960116830398, 'pc_success': 30.0, 'n_episodes': 20, 'n_success': 6, 'pc_success_ci95': [14.54772448676043, 51.89728183535234], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_010000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_010000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_010000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_010000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}}
INFO 2026-10-10 13:49:14 t_train.py:1088 Suite overall aggregated: {'avg_sum_reward': 105.05160927703278, 'avg_max_reward': 0.877960116830398, 'pc_success': 30.0, 'n_episodes': 20, 'n_success': 6, 'pc_success_ci95': [14.54772448676043, 51.89728183535234], 'eval_s': 18.961208820343018, 'eval_ep_s': 0.9480604648590087, 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_010000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_010000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_010000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_010000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}
WARNING 2026-10-10 13:49:14 db_utils.py:193 WandB logging of key "per_task" was ignored as its type "<class 'list'>" is not handled by this wrapper.
WARNING 2026-10-10 13:49:14 db_utils.py:193 WandB logging of key "per_group" was ignored as its type "<class 'dict'>" is not handled by this wrapper.
WARNING 2026-10-10 13:49:14 db_utils.py:193 WandB logging of key "overall" was ignored as its type "<class 'dict'>" is not handled by this wrapper.

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INFO 2026-10-10 14:15:34 t_train.py:1012 Checkpoint policy after step 15000
INFO 2026-10-10 14:15:34 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/015000/pretrained_model!
INFO 2026-10-10 14:15:35 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/015000/pretrained_model_ema!
INFO 2026-10-10 14:15:37 t_train.py:1055 Eval policy at step 15000
INFO 2026-10-10 14:15:37 t_train.py:1062 Evaluating the EMA weights


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  check_env_attributes_and_types(env)



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Running rollout with at most 300 steps:   6%|▌         | 17/300 [00:01<00:14, 19.28it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   6%|▌         | 18/300 [00:01<00:14, 19.28it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   6%|▋         | 19/300 [00:01<00:14, 19.28it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   7%|▋         | 20/300 [00:01<00:14, 19.28it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   7%|▋         | 21/300 [00:01<00:12, 22.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   7%|▋         | 21/300 [00:01<00:12, 22.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   7%|▋         | 22/300 [00:01<00:12, 22.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   8%|▊         | 23/300 [00:01<00:12, 22.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   8%|▊         | 24/300 [00:01<00:12, 22.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   8%|▊         | 25/300 [00:01<00:10, 25.26it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   8%|▊         | 25/300 [00:01<00:10, 25.26it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   9%|▊         | 26/300 [00:01<00:10, 25.26it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   9%|▉         | 27/300 [00:01<00:10, 25.26it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   9%|▉         | 28/300 [00:01<00:10, 25.26it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|▉         | 29/300 [00:01<00:09, 27.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|▉         | 29/300 [00:01<00:09, 27.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|█         | 30/300 [00:01<00:09, 27.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|█         | 31/300 [00:01<00:09, 27.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 32/300 [00:02<00:09, 27.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 33/300 [00:02<00:30,  8.83it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 33/300 [00:02<00:30,  8.83it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█▏        | 34/300 [00:03<00:30,  8.83it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 35/300 [00:03<00:29,  8.83it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 36/300 [00:03<00:29,  8.83it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 37/300 [00:03<00:22, 11.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 37/300 [00:03<00:22, 11.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 38/300 [00:03<00:22, 11.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 39/300 [00:03<00:22, 11.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 40/300 [00:03<00:22, 11.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▎        | 41/300 [00:03<00:17, 14.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▎        | 41/300 [00:03<00:17, 14.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▍        | 42/300 [00:03<00:17, 14.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▍        | 43/300 [00:03<00:17, 14.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▍        | 44/300 [00:03<00:17, 14.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▌        | 45/300 [00:03<00:14, 17.67it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▌        | 45/300 [00:03<00:14, 17.67it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▌        | 46/300 [00:03<00:14, 17.67it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▌        | 47/300 [00:03<00:14, 17.67it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▌        | 48/300 [00:03<00:14, 17.67it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▋        | 49/300 [00:03<00:12, 20.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▋        | 49/300 [00:03<00:12, 20.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 50/300 [00:03<00:11, 20.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 51/300 [00:03<00:11, 20.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 52/300 [00:03<00:11, 20.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 53/300 [00:03<00:10, 23.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 53/300 [00:03<00:10, 23.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 54/300 [00:03<00:10, 23.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 55/300 [00:03<00:10, 23.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▊        | 56/300 [00:03<00:10, 23.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 57/300 [00:03<00:09, 26.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 57/300 [00:03<00:09, 26.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 58/300 [00:03<00:09, 26.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|█▉        | 59/300 [00:03<00:09, 26.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 60/300 [00:03<00:09, 26.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 61/300 [00:03<00:08, 28.75it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 61/300 [00:03<00:08, 28.75it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  21%|██        | 62/300 [00:03<00:08, 28.75it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  21%|██        | 63/300 [00:03<00:08, 28.75it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  21%|██▏       | 64/300 [00:04<00:08, 28.75it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 65/300 [00:04<00:25,  9.27it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 65/300 [00:04<00:25,  9.27it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 66/300 [00:04<00:25,  9.27it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 67/300 [00:04<00:25,  9.27it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 68/300 [00:04<00:25,  9.27it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 69/300 [00:04<00:19, 11.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 69/300 [00:05<00:19, 11.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 70/300 [00:05<00:19, 11.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▎       | 71/300 [00:05<00:19, 11.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 72/300 [00:05<00:19, 11.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 73/300 [00:05<00:15, 14.95it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 73/300 [00:05<00:15, 14.95it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  25%|██▍       | 74/300 [00:05<00:15, 14.95it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  25%|██▌       | 75/300 [00:05<00:15, 14.95it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  25%|██▌       | 76/300 [00:05<00:14, 14.95it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 77/300 [00:05<00:12, 18.09it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 77/300 [00:05<00:12, 18.09it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 78/300 [00:05<00:12, 18.09it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▋       | 79/300 [00:05<00:12, 18.09it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 80/300 [00:05<00:12, 18.09it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 81/300 [00:05<00:10, 21.14it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 81/300 [00:05<00:10, 21.14it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 82/300 [00:05<00:10, 21.14it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 83/300 [00:05<00:10, 21.14it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 84/300 [00:05<00:10, 21.14it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:08, 23.99it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:08, 23.99it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▊       | 86/300 [00:05<00:08, 23.99it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▉       | 87/300 [00:05<00:08, 23.99it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▉       | 88/300 [00:05<00:08, 23.99it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:07, 26.63it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:07, 26.63it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|███       | 90/300 [00:05<00:07, 26.63it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|███       | 91/300 [00:05<00:07, 26.63it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 92/300 [00:05<00:07, 26.63it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 28.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 28.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███▏      | 94/300 [00:05<00:07, 28.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 95/300 [00:05<00:07, 28.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 96/300 [00:06<00:07, 28.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:21,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:21,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 98/300 [00:06<00:21,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 99/300 [00:06<00:21,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 100/300 [00:06<00:21,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 11.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 11.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▍      | 102/300 [00:06<00:16, 11.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▍      | 103/300 [00:06<00:16, 11.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▍      | 104/300 [00:06<00:16, 11.90it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 105/300 [00:06<00:13, 14.82it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 105/300 [00:07<00:13, 14.82it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 106/300 [00:07<00:13, 14.82it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▌      | 107/300 [00:07<00:13, 14.82it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▌      | 108/300 [00:07<00:12, 14.82it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:07<00:10, 17.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:07<00:10, 17.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  37%|███▋      | 110/300 [00:07<00:10, 17.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  37%|███▋      | 111/300 [00:07<00:10, 17.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  37%|███▋      | 112/300 [00:07<00:10, 17.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  38%|███▊      | 113/300 [00:07<00:08, 20.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  38%|███▊      | 113/300 [00:07<00:08, 20.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  38%|███▊      | 114/300 [00:07<00:08, 20.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  38%|███▊      | 115/300 [00:07<00:08, 20.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  39%|███▊      | 116/300 [00:07<00:08, 20.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  39%|███▉      | 117/300 [00:07<00:07, 23.82it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  39%|███▉      | 117/300 [00:07<00:07, 23.82it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  39%|███▉      | 118/300 [00:07<00:07, 23.82it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  40%|███▉      | 119/300 [00:07<00:07, 23.82it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  40%|████      | 120/300 [00:07<00:07, 23.82it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  40%|████      | 121/300 [00:07<00:06, 26.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  40%|████      | 121/300 [00:07<00:06, 26.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  41%|████      | 122/300 [00:07<00:06, 26.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  41%|████      | 123/300 [00:07<00:06, 26.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  41%|████▏     | 124/300 [00:07<00:06, 26.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 28.69it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 28.69it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  42%|████▏     | 126/300 [00:07<00:06, 28.69it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  42%|████▏     | 127/300 [00:07<00:06, 28.69it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 128/300 [00:08<00:05, 28.69it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.27it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.27it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 130/300 [00:08<00:18,  9.27it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  44%|████▎     | 131/300 [00:08<00:18,  9.27it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  44%|████▍     | 132/300 [00:08<00:18,  9.27it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:08<00:14, 11.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:08<00:14, 11.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  45%|████▍     | 134/300 [00:08<00:13, 11.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  45%|████▌     | 135/300 [00:08<00:13, 11.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  45%|████▌     | 136/300 [00:08<00:13, 11.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:11, 14.79it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:11, 14.79it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  46%|████▌     | 138/300 [00:08<00:10, 14.79it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  46%|████▋     | 139/300 [00:08<00:10, 14.79it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  47%|████▋     | 140/300 [00:09<00:10, 14.79it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:09<00:08, 17.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:09<00:08, 17.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  47%|████▋     | 142/300 [00:09<00:08, 17.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  48%|████▊     | 143/300 [00:09<00:08, 17.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  48%|████▊     | 144/300 [00:09<00:08, 17.87it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:09<00:06, 23.75it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  51%|█████     | 152/300 [00:09<00:06, 23.75it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  52%|█████▏    | 155/300 [00:09<00:05, 26.41it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:04, 28.69it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  54%|█████▎    | 161/300 [00:10<00:14,  9.27it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  56%|█████▌    | 167/300 [00:10<00:11, 11.92it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  58%|█████▊    | 173/300 [00:10<00:07, 18.01it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  58%|█████▊    | 174/300 [00:10<00:06, 18.01it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 175/300 [00:11<00:06, 18.01it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  59%|█████▊    | 176/300 [00:11<00:06, 18.01it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  59%|█████▉    | 177/300 [00:11<00:05, 21.09it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  59%|█████▉    | 178/300 [00:11<00:05, 21.09it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  61%|██████▏   | 184/300 [00:11<00:04, 23.64it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 185/300 [00:11<00:04, 26.29it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  62%|██████▏   | 186/300 [00:11<00:04, 26.29it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 187/300 [00:11<00:04, 26.29it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 188/300 [00:11<00:04, 26.29it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:03, 28.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:03, 28.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 190/300 [00:11<00:03, 28.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  64%|██████▎   | 191/300 [00:11<00:03, 28.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 192/300 [00:12<00:03, 28.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 193/300 [00:12<00:11,  9.26it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 193/300 [00:12<00:11,  9.26it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  66%|██████▋   | 199/300 [00:12<00:08, 11.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 200/300 [00:12<00:08, 11.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 14.76it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 14.76it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 202/300 [00:12<00:06, 14.76it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 203/300 [00:12<00:06, 14.76it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 204/300 [00:12<00:06, 14.76it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 205/300 [00:12<00:05, 17.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 205/300 [00:12<00:05, 17.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  69%|██████▊   | 206/300 [00:12<00:05, 17.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  69%|██████▉   | 207/300 [00:12<00:05, 17.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  69%|██████▉   | 208/300 [00:12<00:05, 17.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  70%|██████▉   | 209/300 [00:12<00:04, 20.99it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  70%|██████▉   | 209/300 [00:12<00:04, 20.99it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  70%|███████   | 210/300 [00:13<00:04, 20.99it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  70%|███████   | 211/300 [00:13<00:04, 20.99it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  71%|███████   | 212/300 [00:13<00:04, 20.99it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  71%|███████   | 213/300 [00:13<00:03, 23.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  71%|███████▏  | 214/300 [00:13<00:03, 23.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 215/300 [00:13<00:03, 23.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 216/300 [00:13<00:03, 23.85it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 217/300 [00:13<00:03, 26.14it/s, running_success_rate=5.0%]


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INFO 2026-10-10 14:15:56 t_train.py:1088 Suite per_task aggregated: [{'task_group': 'pusht', 'task_id': 0, 'metrics': {'sum_rewards': [207.8878387309764, 123.59865270466568, 119.58648034691394, 137.2399404800722, 144.08289108585274, 39.37350685590458, 176.0101962524729, 133.924891992908, 95.23030953043995, 171.87478689107346, 177.31891138880366, 75.62033077119247, 31.426897468602284, 140.5604400077265, 180.36637341193614, 149.55849149389633, 190.8612543291626, 149.2640231556226, 72.47804015828893, 51.92977606617187], 'max_rewards': [0.9828022043729625, 0.9400091364325016, 0.9930177842971266, 0.9777988803672608, 0.987684996929118, 0.5597419450616822, 0.9919106184293761, 0.9503457932233887, 0.5572133908774226, 0.989972989896235, 0.9247890258798961, 0.9695810310430726, 1.0, 1.0, 0.9943253832643371, 0.9226893580723848, 0.9900893516474129, 1.0, 0.4988337179929077, 1.0], 'successes': [False, False, False, False, False, False, False, False, False, False, False, False, True, True, False, False, False, True, False, True], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_015000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_015000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_015000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_015000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}, 'n_episodes': 20, 'n_success': 4, 'pc_success': 20.0, 'pc_success_ci95': [8.065766257979806, 41.60174322518935]}]
INFO 2026-10-10 14:15:56 t_train.py:1088 Suite per_group aggregated: {'pusht': {'avg_sum_reward': 128.40970165613416, 'avg_max_reward': 0.9115402803893543, 'pc_success': 20.0, 'n_episodes': 20, 'n_success': 4, 'pc_success_ci95': [8.065766257979806, 41.60174322518935], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_015000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_015000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_015000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_015000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}}
INFO 2026-10-10 14:15:56 t_train.py:1088 Suite overall aggregated: {'avg_sum_reward': 128.40970165613416, 'avg_max_reward': 0.9115402803893543, 'pc_success': 20.0, 'n_episodes': 20, 'n_success': 4, 'pc_success_ci95': [8.065766257979806, 41.60174322518935], 'eval_s': 18.981488943099976, 'eval_ep_s': 0.9490744471549988, 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_015000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_015000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_015000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_015000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}
WARNING 2026-10-10 14:15:56 db_utils.py:193 WandB logging of key "per_task" was ignored as its type "<class 'list'>" is not handled by this wrapper.
WARNING 2026-10-10 14:15:56 db_utils.py:193 WandB logging of key "per_group" was ignored as its type "<class 'dict'>" is not handled by this wrapper.
WARNING 2026-10-10 14:15:56 db_utils.py:193 WandB logging of key "overall" was ignored as its type "<class 'dict'>" is not handled by this wrapper.

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Training:  50%|████▉     | 19950/40000 [1:46:51<1:31:10,  3.67step/s]INFO 2026-10-10 14:42:01 ot_train.py:970 step:20K smpl:5M ep:41K epch:199.11 loss:0.005 grdn:0.113 lr:5.1e-05 data_s:0.009 prep_s:0.001 updt_s:0.292 step_s:0.302 smp/s:849 mem_gb:8.48

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Training:  50%|█████     | 20000/40000 [1:47:07<1:42:21,  3.26step/s]INFO 2026-10-10 14:42:17 ot_train.py:970 step:20K smpl:5M ep:41K epch:199.61 loss:0.005 grdn:0.146 lr:5.1e-05 data_s:0.030 prep_s:0.001 updt_s:0.294 step_s:0.325 smp/s:787 mem_gb:8.52
INFO 2026-10-10 14:42:17 t_train.py:1012 Checkpoint policy after step 20000
INFO 2026-10-10 14:42:18 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/020000/pretrained_model!
INFO 2026-10-10 14:42:19 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/020000/pretrained_model_ema!
INFO 2026-10-10 14:42:21 t_train.py:1055 Eval policy at step 20000
INFO 2026-10-10 14:42:21 t_train.py:1062 Evaluating the EMA weights


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  check_env_attributes_and_types(env)



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Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:08, 24.05it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:07, 26.55it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  31%|███       | 92/300 [00:05<00:07, 26.55it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 28.81it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  32%|███▏      | 95/300 [00:05<00:07, 28.81it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:21,  9.29it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  33%|███▎      | 100/300 [00:06<00:21,  9.29it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 11.93it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  35%|███▍      | 104/300 [00:06<00:16, 11.93it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  36%|███▌      | 108/300 [00:07<00:12, 14.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:07<00:10, 18.06it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  38%|███▊      | 113/300 [00:07<00:08, 21.17it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  38%|███▊      | 113/300 [00:07<00:08, 21.17it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  39%|███▊      | 116/300 [00:07<00:08, 21.17it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  39%|███▉      | 117/300 [00:07<00:07, 24.09it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  41%|████      | 122/300 [00:07<00:06, 26.70it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  41%|████▏     | 124/300 [00:07<00:06, 26.70it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 28.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 28.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  42%|████▏     | 126/300 [00:07<00:06, 28.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  42%|████▏     | 127/300 [00:07<00:05, 28.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 128/300 [00:08<00:05, 28.89it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 130/300 [00:08<00:18,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  44%|████▎     | 131/300 [00:08<00:18,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  44%|████▍     | 132/300 [00:08<00:18,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:08<00:14, 11.92it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:08<00:14, 11.92it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  45%|████▌     | 136/300 [00:08<00:13, 11.92it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:10, 14.88it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:10, 14.88it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  46%|████▋     | 139/300 [00:08<00:10, 14.88it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  47%|████▋     | 140/300 [00:08<00:10, 14.88it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:08<00:08, 17.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:08<00:08, 17.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  47%|████▋     | 142/300 [00:09<00:08, 17.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  48%|████▊     | 143/300 [00:09<00:08, 17.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  48%|████▊     | 144/300 [00:09<00:08, 17.91it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 21.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 21.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  49%|████▊     | 146/300 [00:09<00:07, 21.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  49%|████▉     | 147/300 [00:09<00:07, 21.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  49%|████▉     | 148/300 [00:09<00:07, 21.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:09<00:06, 23.92it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:09<00:06, 23.92it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  50%|█████     | 150/300 [00:09<00:06, 23.92it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  50%|█████     | 151/300 [00:09<00:06, 23.92it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  51%|█████     | 152/300 [00:09<00:06, 23.92it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 26.47it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 26.47it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  51%|█████▏    | 154/300 [00:09<00:05, 26.47it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 155/300 [00:09<00:05, 26.47it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 156/300 [00:09<00:05, 26.47it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:04, 28.64it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:04, 28.64it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 158/300 [00:09<00:04, 28.64it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 159/300 [00:09<00:04, 28.64it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 160/300 [00:10<00:04, 28.64it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  54%|█████▎    | 161/300 [00:10<00:14,  9.27it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  55%|█████▍    | 164/300 [00:10<00:14,  9.27it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 165/300 [00:10<00:11, 11.88it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 165/300 [00:10<00:11, 11.88it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  56%|█████▌    | 167/300 [00:10<00:11, 11.88it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  58%|█████▊    | 175/300 [00:10<00:06, 17.98it/s, running_success_rate=10.0%]


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Stepping through eval batches:   0%|          | 0/1 [00:18<?, ?it/s, running_success_rate=40.0%]

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INFO 2026-10-10 14:42:40 t_train.py:1088 Suite per_task aggregated: [{'task_group': 'pusht', 'task_id': 0, 'metrics': {'sum_rewards': [68.81683439793757, 90.2091207373557, 132.55797866886806, 94.139686048366, 125.07528056071627, 60.110468197511224, 112.19432814572792, 48.003529670464765, 138.0678831557853, 116.6078594800596, 187.2082789411497, 71.41871436600252, 116.14845324744982, 56.24253714469667, 141.08180619946938, 160.95882943532249, 198.90506155236872, 184.2637548570288, 175.95157992645875, 56.8644388595456], 'max_rewards': [0.9929072435120619, 0.6552712406138743, 0.9784676184770591, 1.0, 0.9901367571570129, 1.0, 1.0, 1.0, 0.9834172263950293, 0.9843311272845122, 0.9805153030513644, 1.0, 0.8215442988348949, 1.0, 1.0, 0.9859699846885083, 0.9816238974244099, 0.9916907262929108, 0.9901671544951937, 1.0], 'successes': [False, False, False, True, False, True, True, True, False, False, False, True, False, True, True, False, False, False, False, True], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_020000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_020000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_020000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_020000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}, 'n_episodes': 20, 'n_success': 8, 'pc_success': 40.0, 'pc_success_ci95': [21.88065323728171, 61.34184992377468]}]
INFO 2026-10-10 14:42:40 t_train.py:1088 Suite per_group aggregated: {'pusht': {'avg_sum_reward': 116.74132117961423, 'avg_max_reward': 0.9668021289113415, 'pc_success': 40.0, 'n_episodes': 20, 'n_success': 8, 'pc_success_ci95': [21.88065323728171, 61.34184992377468], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_020000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_020000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_020000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_020000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}}
INFO 2026-10-10 14:42:40 t_train.py:1088 Suite overall aggregated: {'avg_sum_reward': 116.74132117961423, 'avg_max_reward': 0.9668021289113415, 'pc_success': 40.0, 'n_episodes': 20, 'n_success': 8, 'pc_success_ci95': [21.88065323728171, 61.34184992377468], 'eval_s': 18.826940774917603, 'eval_ep_s': 0.9413470506668091, 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_020000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_020000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_020000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_020000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}
WARNING 2026-10-10 14:42:40 db_utils.py:193 WandB logging of key "per_task" was ignored as its type "<class 'list'>" is not handled by this wrapper.
WARNING 2026-10-10 14:42:40 db_utils.py:193 WandB logging of key "per_group" was ignored as its type "<class 'dict'>" is not handled by this wrapper.
WARNING 2026-10-10 14:42:40 db_utils.py:193 WandB logging of key "overall" was ignored as its type "<class 'dict'>" is not handled by this wrapper.

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Training:  62%|██████▏   | 24950/40000 [2:13:34<1:17:03,  3.25step/s]INFO 2026-10-10 15:08:44 ot_train.py:970 step:25K smpl:6M ep:51K epch:249.01 loss:0.003 grdn:0.172 lr:3.2e-05 data_s:0.009 prep_s:0.001 updt_s:0.294 step_s:0.304 smp/s:841 mem_gb:8.52

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Training:  62%|██████▎   | 25000/40000 [2:13:50<1:17:24,  3.23step/s]INFO 2026-10-10 15:09:00 ot_train.py:970 step:25K smpl:6M ep:51K epch:249.51 loss:0.004 grdn:0.136 lr:3.2e-05 data_s:0.025 prep_s:0.001 updt_s:0.292 step_s:0.317 smp/s:807 mem_gb:8.48
INFO 2026-10-10 15:09:00 t_train.py:1012 Checkpoint policy after step 25000
INFO 2026-10-10 15:09:00 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/025000/pretrained_model!
INFO 2026-10-10 15:09:02 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/025000/pretrained_model_ema!
INFO 2026-10-10 15:09:04 t_train.py:1055 Eval policy at step 25000
INFO 2026-10-10 15:09:04 t_train.py:1062 Evaluating the EMA weights


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  check_env_attributes_and_types(env)



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Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:07, 26.47it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 28.53it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 28.53it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  32%|███▏      | 95/300 [00:05<00:07, 28.53it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:21,  9.24it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 11.85it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  37%|███▋      | 110/300 [00:07<00:10, 17.85it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  39%|███▊      | 116/300 [00:07<00:08, 20.93it/s, running_success_rate=15.0%]


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Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 28.19it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 28.19it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  42%|████▏     | 126/300 [00:07<00:06, 28.19it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  42%|████▏     | 127/300 [00:07<00:06, 28.19it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  43%|████▎     | 128/300 [00:08<00:06, 28.19it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.19it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.19it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  43%|████▎     | 130/300 [00:08<00:18,  9.19it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  44%|████▎     | 131/300 [00:08<00:18,  9.19it/s, running_success_rate=20.0%]


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Running rollout with at most 300 steps:  45%|████▌     | 136/300 [00:08<00:13, 11.78it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:11, 14.68it/s, running_success_rate=20.0%]


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Running rollout with at most 300 steps:  47%|████▋     | 140/300 [00:09<00:10, 14.68it/s, running_success_rate=20.0%]


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Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:09<00:08, 17.74it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  47%|████▋     | 142/300 [00:09<00:08, 17.74it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  48%|████▊     | 143/300 [00:09<00:08, 17.74it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  48%|████▊     | 144/300 [00:09<00:08, 17.74it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 20.90it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 20.90it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  49%|████▊     | 146/300 [00:09<00:07, 20.90it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  49%|████▉     | 147/300 [00:09<00:07, 20.90it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  49%|████▉     | 148/300 [00:09<00:07, 20.90it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:09<00:06, 23.83it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:09<00:06, 23.83it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  51%|█████     | 152/300 [00:09<00:06, 23.83it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  51%|█████▏    | 154/300 [00:09<00:05, 26.48it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  52%|█████▏    | 156/300 [00:09<00:05, 26.48it/s, running_success_rate=25.0%]


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Stepping through eval batches:   0%|          | 0/1 [00:18<?, ?it/s, running_success_rate=40.0%]

Stepping through eval batches: 100%|██████████| 1/1 [00:18<00:00, 18.66s/it, running_success_rate=40.0%]
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INFO 2026-10-10 15:09:23 t_train.py:1088 Suite per_task aggregated: [{'task_group': 'pusht', 'task_id': 0, 'metrics': {'sum_rewards': [44.48032860626773, 0.0, 121.08056546299471, 66.12381026351049, 119.35613854234077, 1.0347232346154551, 53.160706110129524, 31.491004259762022, 133.19742472967252, 206.83695680790785, 169.2744540925988, 46.54317606814148, 128.54630262140375, 18.490637143612346, 144.22462379972782, 118.47794732196823, 23.60427354319463, 188.89344859313044, 147.87917232759082, 146.9969400241642], 'max_rewards': [1.0, 0.0, 0.9719738715050487, 1.0, 0.6793904331916026, 0.07481023104094138, 1.0, 1.0, 0.9977050745359601, 0.9908823066373081, 0.9891031393382436, 0.9235255713660975, 1.0, 1.0, 0.6326914818348941, 1.0, 1.0, 0.994894234565688, 0.9621729134915924, 0.9802012870580139], 'successes': [True, False, False, True, False, False, True, True, False, False, False, False, True, True, False, True, True, False, False, False], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_025000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_025000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_025000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_025000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}, 'n_episodes': 20, 'n_success': 8, 'pc_success': 40.0, 'pc_success_ci95': [21.88065323728171, 61.34184992377468]}]
INFO 2026-10-10 15:09:23 t_train.py:1088 Suite per_group aggregated: {'pusht': {'avg_sum_reward': 95.48463167763668, 'avg_max_reward': 0.8598675272282694, 'pc_success': 40.0, 'n_episodes': 20, 'n_success': 8, 'pc_success_ci95': [21.88065323728171, 61.34184992377468], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_025000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_025000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_025000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_025000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}}
INFO 2026-10-10 15:09:23 t_train.py:1088 Suite overall aggregated: {'avg_sum_reward': 95.48463167763668, 'avg_max_reward': 0.8598675272282694, 'pc_success': 40.0, 'n_episodes': 20, 'n_success': 8, 'pc_success_ci95': [21.88065323728171, 61.34184992377468], 'eval_s': 18.906964540481567, 'eval_ep_s': 0.9453482389450073, 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_025000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_025000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_025000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_025000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}
WARNING 2026-10-10 15:09:23 db_utils.py:193 WandB logging of key "per_task" was ignored as its type "<class 'list'>" is not handled by this wrapper.
WARNING 2026-10-10 15:09:23 db_utils.py:193 WandB logging of key "per_group" was ignored as its type "<class 'dict'>" is not handled by this wrapper.
WARNING 2026-10-10 15:09:23 db_utils.py:193 WandB logging of key "overall" was ignored as its type "<class 'dict'>" is not handled by this wrapper.

Training:  63%|██████▎   | 25001/40000 [2:14:13<29:49:21,  7.16s/step]
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Training:  75%|███████▍  | 29950/40000 [2:40:17<51:31,  3.25step/s]INFO 2026-10-10 15:35:27 ot_train.py:970 step:30K smpl:8M ep:62K epch:298.92 loss:0.002 grdn:0.117 lr:1.5e-05 data_s:0.027 prep_s:0.001 updt_s:0.292 step_s:0.320 smp/s:800 mem_gb:8.48

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Training:  75%|███████▌  | 30000/40000 [2:40:32<51:05,  3.26step/s]INFO 2026-10-10 15:35:42 ot_train.py:970 step:30K smpl:8M ep:62K epch:299.42 loss:0.002 grdn:0.101 lr:1.5e-05 data_s:0.009 prep_s:0.001 updt_s:0.294 step_s:0.304 smp/s:841 mem_gb:8.52
INFO 2026-10-10 15:35:42 t_train.py:1012 Checkpoint policy after step 30000
INFO 2026-10-10 15:35:42 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/030000/pretrained_model!
INFO 2026-10-10 15:35:44 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/030000/pretrained_model_ema!
INFO 2026-10-10 15:35:45 t_train.py:1055 Eval policy at step 30000
INFO 2026-10-10 15:35:45 t_train.py:1062 Evaluating the EMA weights


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  check_env_attributes_and_types(env)



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Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:09, 22.98it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  29%|██▉       | 88/300 [00:05<00:09, 22.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:08, 25.47it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  30%|███       | 91/300 [00:05<00:08, 25.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 92/300 [00:05<00:08, 25.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 27.59it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  31%|███▏      | 94/300 [00:05<00:07, 27.59it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 95/300 [00:05<00:07, 27.59it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:22,  9.16it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  33%|███▎      | 98/300 [00:06<00:22,  9.16it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 99/300 [00:07<00:21,  9.16it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:07<00:17, 11.62it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  34%|███▍      | 103/300 [00:07<00:16, 11.62it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▍      | 104/300 [00:07<00:16, 11.62it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 105/300 [00:07<00:13, 14.40it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:07<00:10, 17.38it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  37%|███▋      | 110/300 [00:07<00:10, 17.38it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  38%|███▊      | 113/300 [00:07<00:09, 20.41it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  38%|███▊      | 114/300 [00:07<00:09, 20.41it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  38%|███▊      | 115/300 [00:07<00:09, 20.41it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  39%|███▊      | 116/300 [00:07<00:09, 20.41it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  39%|███▉      | 117/300 [00:07<00:07, 23.15it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  40%|███▉      | 119/300 [00:07<00:07, 23.15it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  41%|████      | 122/300 [00:07<00:06, 25.55it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  41%|████      | 123/300 [00:07<00:06, 25.55it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  41%|████▏     | 124/300 [00:07<00:06, 25.55it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 27.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 27.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  42%|████▏     | 126/300 [00:07<00:06, 27.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  42%|████▏     | 127/300 [00:07<00:06, 27.47it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 128/300 [00:08<00:06, 27.47it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.11it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.11it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 130/300 [00:08<00:18,  9.11it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  44%|████▎     | 131/300 [00:08<00:18,  9.11it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  44%|████▍     | 132/300 [00:09<00:18,  9.11it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:09<00:14, 11.66it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:09<00:14, 11.66it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  45%|████▍     | 134/300 [00:09<00:14, 11.66it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  45%|████▌     | 135/300 [00:09<00:14, 11.66it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  45%|████▌     | 136/300 [00:09<00:14, 11.66it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:09<00:11, 14.53it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:09<00:11, 14.53it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  46%|████▋     | 139/300 [00:09<00:11, 14.53it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  47%|████▋     | 140/300 [00:09<00:11, 14.53it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:09<00:09, 17.52it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:09<00:09, 17.52it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  47%|████▋     | 142/300 [00:09<00:09, 17.52it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  48%|████▊     | 143/300 [00:09<00:08, 17.52it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  48%|████▊     | 144/300 [00:09<00:08, 17.52it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 20.49it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 20.49it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  49%|████▊     | 146/300 [00:09<00:07, 20.49it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  49%|████▉     | 147/300 [00:09<00:07, 20.49it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  49%|████▉     | 148/300 [00:09<00:07, 20.49it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:09<00:06, 23.24it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:09<00:06, 23.24it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  50%|█████     | 150/300 [00:09<00:06, 23.24it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  50%|█████     | 151/300 [00:09<00:06, 23.24it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  51%|█████     | 152/300 [00:09<00:06, 23.24it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 25.73it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 25.73it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  51%|█████▏    | 154/300 [00:09<00:05, 25.73it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 155/300 [00:09<00:05, 25.73it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 156/300 [00:09<00:05, 25.73it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:05, 27.33it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:05, 27.33it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 158/300 [00:09<00:05, 27.33it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 159/300 [00:09<00:05, 27.33it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 160/300 [00:10<00:05, 27.33it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  54%|█████▎    | 161/300 [00:10<00:15,  9.14it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  54%|█████▎    | 161/300 [00:10<00:15,  9.14it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  54%|█████▍    | 162/300 [00:10<00:15,  9.14it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  54%|█████▍    | 163/300 [00:10<00:14,  9.14it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  55%|█████▍    | 164/300 [00:10<00:14,  9.14it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 165/300 [00:10<00:11, 11.66it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 165/300 [00:10<00:11, 11.66it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 166/300 [00:11<00:11, 11.66it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  56%|█████▌    | 167/300 [00:11<00:11, 11.66it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  56%|█████▌    | 168/300 [00:11<00:11, 11.66it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  56%|█████▋    | 169/300 [00:11<00:09, 14.49it/s, running_success_rate=15.0%]


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Running rollout with at most 300 steps:  58%|█████▊    | 175/300 [00:11<00:07, 17.42it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  59%|█████▊    | 176/300 [00:11<00:07, 17.42it/s, running_success_rate=15.0%]


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Running rollout with at most 300 steps:  61%|██████▏   | 184/300 [00:11<00:05, 22.66it/s, running_success_rate=15.0%]


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Running rollout with at most 300 steps:  63%|██████▎   | 188/300 [00:11<00:04, 25.06it/s, running_success_rate=20.0%]


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Stepping through eval batches:   0%|          | 0/1 [00:19<?, ?it/s, running_success_rate=30.0%]

Stepping through eval batches: 100%|██████████| 1/1 [00:19<00:00, 19.15s/it, running_success_rate=30.0%]
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INFO 2026-10-10 15:36:05 t_train.py:1088 Suite per_task aggregated: [{'task_group': 'pusht', 'task_id': 0, 'metrics': {'sum_rewards': [173.30364514513275, 0.0, 141.24209397030717, 93.74766271183032, 158.01672668781484, 53.609554042363385, 172.76492647409228, 183.2117743791867, 138.0936426009025, 69.32546549856005, 168.90512671181165, 83.09198414065496, 136.67151976788534, 43.336534408678, 154.1253415353279, 186.47969308997773, 76.24551525069356, 40.457282976766045, 142.09783823212123, 143.41428660221123], 'max_rewards': [0.9889749674961513, 0.0, 0.9118220178656737, 1.0, 0.9899937700434218, 1.0, 0.9853179398811057, 0.9698333127814144, 0.9643569843665667, 1.0, 0.9410871590821769, 0.5468383459566627, 0.933498199724394, 1.0, 0.9711855941292968, 0.965253659351753, 1.0, 1.0, 0.9862744535223433, 0.9802009096885311], 'successes': [False, False, False, True, False, True, False, False, False, True, False, False, False, True, False, False, True, True, False, False], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_030000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_030000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_030000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_030000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}, 'n_episodes': 20, 'n_success': 6, 'pc_success': 30.0, 'pc_success_ci95': [14.54772448676043, 51.89728183535234]}]
INFO 2026-10-10 15:36:05 t_train.py:1088 Suite per_group aggregated: {'pusht': {'avg_sum_reward': 117.90703071131591, 'avg_max_reward': 0.9067318656944746, 'pc_success': 30.0, 'n_episodes': 20, 'n_success': 6, 'pc_success_ci95': [14.54772448676043, 51.89728183535234], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_030000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_030000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_030000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_030000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}}
INFO 2026-10-10 15:36:05 t_train.py:1088 Suite overall aggregated: {'avg_sum_reward': 117.90703071131591, 'avg_max_reward': 0.9067318656944746, 'pc_success': 30.0, 'n_episodes': 20, 'n_success': 6, 'pc_success_ci95': [14.54772448676043, 51.89728183535234], 'eval_s': 19.439532041549683, 'eval_ep_s': 0.9719766020774842, 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_030000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_030000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_030000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_030000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}
WARNING 2026-10-10 15:36:05 db_utils.py:193 WandB logging of key "per_task" was ignored as its type "<class 'list'>" is not handled by this wrapper.
WARNING 2026-10-10 15:36:05 db_utils.py:193 WandB logging of key "per_group" was ignored as its type "<class 'dict'>" is not handled by this wrapper.
WARNING 2026-10-10 15:36:05 db_utils.py:193 WandB logging of key "overall" was ignored as its type "<class 'dict'>" is not handled by this wrapper.

Training:  75%|███████▌  | 30001/40000 [2:40:55<19:55:12,  7.17s/step]
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Training:  88%|████████▊ | 35000/40000 [3:07:19<25:35,  3.26step/s]INFO 2026-10-10 16:02:29 ot_train.py:970 step:35K smpl:9M ep:72K epch:349.32 loss:0.001 grdn:0.081 lr:3.9e-06 data_s:0.030 prep_s:0.001 updt_s:0.292 step_s:0.323 smp/s:793 mem_gb:8.48
INFO 2026-10-10 16:02:29 t_train.py:1012 Checkpoint policy after step 35000
INFO 2026-10-10 16:02:29 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/035000/pretrained_model!
INFO 2026-10-10 16:02:31 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/035000/pretrained_model_ema!
INFO 2026-10-10 16:02:32 t_train.py:1055 Eval policy at step 35000
INFO 2026-10-10 16:02:32 t_train.py:1062 Evaluating the EMA weights


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  check_env_attributes_and_types(env)



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Running rollout with at most 300 steps:  20%|██        | 61/300 [00:03<00:08, 28.36it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  21%|██        | 62/300 [00:03<00:08, 28.36it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  22%|██▏       | 65/300 [00:04<00:25,  9.13it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  23%|██▎       | 68/300 [00:04<00:25,  9.13it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 69/300 [00:04<00:19, 11.74it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  24%|██▎       | 71/300 [00:05<00:19, 11.74it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  24%|██▍       | 73/300 [00:05<00:15, 14.55it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  26%|██▌       | 77/300 [00:05<00:12, 17.65it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  27%|██▋       | 80/300 [00:05<00:12, 17.65it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 81/300 [00:05<00:10, 20.53it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  28%|██▊       | 83/300 [00:05<00:10, 20.53it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:09, 23.48it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  29%|██▊       | 86/300 [00:05<00:09, 23.48it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▉       | 87/300 [00:05<00:09, 23.48it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▉       | 88/300 [00:05<00:09, 23.48it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:08, 26.00it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  31%|███       | 92/300 [00:05<00:08, 26.00it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 28.09it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  32%|███▏      | 95/300 [00:05<00:07, 28.09it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  32%|███▏      | 96/300 [00:06<00:07, 28.09it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:22,  9.22it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:22,  9.22it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  33%|███▎      | 98/300 [00:06<00:21,  9.22it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  33%|███▎      | 100/300 [00:06<00:21,  9.22it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 11.80it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 11.80it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  34%|███▍      | 103/300 [00:07<00:16, 11.80it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  35%|███▍      | 104/300 [00:07<00:16, 11.80it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  35%|███▌      | 105/300 [00:07<00:13, 14.56it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  38%|███▊      | 113/300 [00:07<00:09, 20.52it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  39%|███▊      | 116/300 [00:07<00:08, 20.52it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  39%|███▉      | 118/300 [00:07<00:07, 23.38it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  40%|███▉      | 119/300 [00:07<00:07, 23.38it/s, running_success_rate=15.0%]


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Running rollout with at most 300 steps:  40%|████      | 121/300 [00:07<00:07, 25.39it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  40%|████      | 121/300 [00:07<00:07, 25.39it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  41%|████      | 122/300 [00:07<00:07, 25.39it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  41%|████      | 123/300 [00:07<00:06, 25.39it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  41%|████▏     | 124/300 [00:07<00:06, 25.39it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 27.52it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 27.52it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  42%|████▏     | 126/300 [00:07<00:06, 27.52it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  42%|████▏     | 127/300 [00:07<00:06, 27.52it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  43%|████▎     | 128/300 [00:08<00:06, 27.52it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.12it/s, running_success_rate=15.0%]


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Running rollout with at most 300 steps:  46%|████▋     | 139/300 [00:09<00:11, 14.63it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  47%|████▋     | 140/300 [00:09<00:10, 14.63it/s, running_success_rate=20.0%]


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Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:09<00:09, 17.54it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  47%|████▋     | 142/300 [00:09<00:09, 17.54it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  48%|████▊     | 143/300 [00:09<00:08, 17.54it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  48%|████▊     | 144/300 [00:09<00:08, 17.54it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 20.61it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  61%|██████    | 183/300 [00:11<00:05, 22.77it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  61%|██████▏   | 184/300 [00:11<00:05, 22.77it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 185/300 [00:11<00:04, 25.35it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 185/300 [00:11<00:04, 25.35it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 186/300 [00:11<00:04, 25.35it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 187/300 [00:11<00:04, 25.35it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 188/300 [00:11<00:04, 25.35it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:04, 27.41it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:04, 27.41it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 190/300 [00:11<00:04, 27.41it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  64%|██████▎   | 191/300 [00:11<00:03, 27.41it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 192/300 [00:12<00:03, 27.41it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 193/300 [00:12<00:11,  9.15it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 193/300 [00:12<00:11,  9.15it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  65%|██████▍   | 194/300 [00:12<00:11,  9.15it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  65%|██████▌   | 195/300 [00:12<00:11,  9.15it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  65%|██████▌   | 196/300 [00:12<00:11,  9.15it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 197/300 [00:12<00:08, 11.77it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 197/300 [00:12<00:08, 11.77it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 198/300 [00:12<00:08, 11.77it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  66%|██████▋   | 199/300 [00:12<00:08, 11.77it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 200/300 [00:12<00:08, 11.77it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 14.58it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 14.58it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 202/300 [00:12<00:06, 14.58it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 203/300 [00:12<00:06, 14.58it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 204/300 [00:13<00:06, 14.58it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 205/300 [00:13<00:05, 17.69it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 205/300 [00:13<00:05, 17.69it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  69%|██████▊   | 206/300 [00:13<00:05, 17.69it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  69%|██████▉   | 207/300 [00:13<00:05, 17.69it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  69%|██████▉   | 208/300 [00:13<00:05, 17.69it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  70%|██████▉   | 209/300 [00:13<00:04, 20.76it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  70%|██████▉   | 209/300 [00:13<00:04, 20.76it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  70%|███████   | 210/300 [00:13<00:04, 20.76it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  70%|███████   | 211/300 [00:13<00:04, 20.76it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  71%|███████   | 212/300 [00:13<00:04, 20.76it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  71%|███████   | 213/300 [00:13<00:03, 23.31it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  71%|███████   | 213/300 [00:13<00:03, 23.31it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  71%|███████▏  | 214/300 [00:13<00:03, 23.31it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 215/300 [00:13<00:03, 23.31it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 216/300 [00:13<00:03, 23.31it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 217/300 [00:13<00:03, 25.56it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 217/300 [00:13<00:03, 25.56it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 218/300 [00:13<00:03, 25.56it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 219/300 [00:13<00:03, 25.56it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 220/300 [00:13<00:03, 25.56it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  74%|███████▎  | 221/300 [00:13<00:02, 27.31it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  74%|███████▎  | 221/300 [00:13<00:02, 27.31it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  74%|███████▍  | 222/300 [00:13<00:02, 27.31it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  74%|███████▍  | 223/300 [00:13<00:02, 27.31it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  75%|███████▍  | 224/300 [00:14<00:02, 27.31it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  75%|███████▌  | 225/300 [00:14<00:08,  9.11it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  75%|███████▌  | 225/300 [00:14<00:08,  9.11it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  75%|███████▌  | 226/300 [00:14<00:08,  9.11it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  76%|███████▌  | 227/300 [00:14<00:08,  9.11it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  76%|███████▌  | 228/300 [00:14<00:07,  9.11it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  76%|███████▋  | 229/300 [00:14<00:06, 11.63it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  76%|███████▋  | 229/300 [00:14<00:06, 11.63it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  77%|███████▋  | 230/300 [00:14<00:06, 11.63it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  77%|███████▋  | 231/300 [00:14<00:05, 11.63it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  77%|███████▋  | 232/300 [00:14<00:05, 11.63it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  78%|███████▊  | 233/300 [00:14<00:04, 14.59it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  78%|███████▊  | 233/300 [00:14<00:04, 14.59it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  78%|███████▊  | 234/300 [00:14<00:04, 14.59it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  78%|███████▊  | 235/300 [00:14<00:04, 14.59it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  79%|███████▊  | 236/300 [00:14<00:04, 14.59it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  79%|███████▉  | 237/300 [00:14<00:03, 17.55it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  79%|███████▉  | 237/300 [00:14<00:03, 17.55it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  79%|███████▉  | 238/300 [00:15<00:03, 17.55it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  80%|███████▉  | 239/300 [00:15<00:03, 17.55it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  80%|████████  | 240/300 [00:15<00:03, 17.55it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  80%|████████  | 241/300 [00:15<00:02, 20.72it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  80%|████████  | 241/300 [00:15<00:02, 20.72it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  81%|████████  | 242/300 [00:15<00:02, 20.72it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  81%|████████  | 243/300 [00:15<00:02, 20.72it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  81%|████████▏ | 244/300 [00:15<00:02, 20.72it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  82%|████████▏ | 245/300 [00:15<00:02, 23.74it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  82%|████████▏ | 245/300 [00:15<00:02, 23.74it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  82%|████████▏ | 246/300 [00:15<00:02, 23.74it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  82%|████████▏ | 247/300 [00:15<00:02, 23.74it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  83%|████████▎ | 248/300 [00:15<00:02, 23.74it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  83%|████████▎ | 249/300 [00:15<00:01, 26.41it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  83%|████████▎ | 249/300 [00:15<00:01, 26.41it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  83%|████████▎ | 250/300 [00:15<00:01, 26.41it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  84%|████████▎ | 251/300 [00:15<00:01, 26.41it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  84%|████████▍ | 252/300 [00:15<00:01, 26.41it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  84%|████████▍ | 253/300 [00:15<00:01, 27.85it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  84%|████████▍ | 253/300 [00:15<00:01, 27.85it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  85%|████████▍ | 254/300 [00:15<00:01, 27.85it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  85%|████████▌ | 255/300 [00:15<00:01, 27.85it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  85%|████████▌ | 256/300 [00:16<00:01, 27.85it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  86%|████████▌ | 257/300 [00:16<00:04,  9.19it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  86%|████████▌ | 257/300 [00:16<00:04,  9.19it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  86%|████████▌ | 258/300 [00:16<00:04,  9.19it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  86%|████████▋ | 259/300 [00:16<00:04,  9.19it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  87%|████████▋ | 260/300 [00:16<00:04,  9.19it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  87%|████████▋ | 261/300 [00:16<00:03, 11.69it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  87%|████████▋ | 261/300 [00:16<00:03, 11.69it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  87%|████████▋ | 262/300 [00:16<00:03, 11.69it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  88%|████████▊ | 263/300 [00:16<00:03, 11.69it/s, running_success_rate=40.0%]


Running rollout with at most 300 steps:  88%|████████▊ | 264/300 [00:16<00:03, 11.69it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  88%|████████▊ | 265/300 [00:16<00:02, 14.57it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  88%|████████▊ | 265/300 [00:16<00:02, 14.57it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  89%|████████▊ | 266/300 [00:16<00:02, 14.57it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  89%|████████▉ | 267/300 [00:16<00:02, 14.57it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  89%|████████▉ | 268/300 [00:16<00:02, 14.57it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  90%|████████▉ | 269/300 [00:16<00:01, 17.40it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  90%|████████▉ | 269/300 [00:16<00:01, 17.40it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  90%|█████████ | 270/300 [00:16<00:01, 17.40it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  90%|█████████ | 271/300 [00:16<00:01, 17.40it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  91%|█████████ | 272/300 [00:17<00:01, 17.40it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  91%|█████████ | 273/300 [00:17<00:01, 20.33it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  91%|█████████ | 273/300 [00:17<00:01, 20.33it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  91%|█████████▏| 274/300 [00:17<00:01, 20.33it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  92%|█████████▏| 275/300 [00:17<00:01, 20.33it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  92%|█████████▏| 276/300 [00:17<00:01, 20.33it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  92%|█████████▏| 277/300 [00:17<00:01, 22.85it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  92%|█████████▏| 277/300 [00:17<00:01, 22.85it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  93%|█████████▎| 278/300 [00:17<00:00, 22.85it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  93%|█████████▎| 279/300 [00:17<00:00, 22.85it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  93%|█████████▎| 280/300 [00:17<00:00, 22.85it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  94%|█████████▎| 281/300 [00:17<00:00, 25.38it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  94%|█████████▎| 281/300 [00:17<00:00, 25.38it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  94%|█████████▍| 282/300 [00:17<00:00, 25.38it/s, running_success_rate=45.0%]


Running rollout with at most 300 steps:  94%|█████████▍| 283/300 [00:17<00:00, 25.38it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  95%|█████████▍| 284/300 [00:17<00:00, 25.38it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  95%|█████████▌| 285/300 [00:17<00:00, 27.18it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  95%|█████████▌| 285/300 [00:17<00:00, 27.18it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  95%|█████████▌| 286/300 [00:17<00:00, 27.18it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  96%|█████████▌| 287/300 [00:17<00:00, 27.18it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  96%|█████████▌| 288/300 [00:18<00:00, 27.18it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  96%|█████████▋| 289/300 [00:18<00:01,  9.16it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  96%|█████████▋| 289/300 [00:18<00:01,  9.16it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  97%|█████████▋| 290/300 [00:18<00:01,  9.16it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  97%|█████████▋| 291/300 [00:18<00:00,  9.16it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  97%|█████████▋| 292/300 [00:18<00:00,  9.16it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  98%|█████████▊| 293/300 [00:18<00:00, 11.77it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  98%|█████████▊| 293/300 [00:18<00:00, 11.77it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  98%|█████████▊| 294/300 [00:18<00:00, 11.77it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  98%|█████████▊| 295/300 [00:18<00:00, 11.77it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  99%|█████████▊| 296/300 [00:18<00:00, 11.77it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  99%|█████████▉| 297/300 [00:18<00:00, 14.72it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  99%|█████████▉| 297/300 [00:18<00:00, 14.72it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps:  99%|█████████▉| 298/300 [00:18<00:00, 14.72it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps: 100%|█████████▉| 299/300 [00:18<00:00, 14.72it/s, running_success_rate=50.0%]


Running rollout with at most 300 steps: 100%|██████████| 300/300 [00:18<00:00, 16.66it/s, running_success_rate=50.0%]


                                                                                                                     

Stepping through eval batches:   0%|          | 0/1 [00:18<?, ?it/s, running_success_rate=50.0%]

Stepping through eval batches: 100%|██████████| 1/1 [00:18<00:00, 18.94s/it, running_success_rate=50.0%]
Stepping through eval batches: 100%|██████████| 1/1 [00:18<00:00, 18.94s/it, running_success_rate=50.0%]
INFO 2026-10-10 16:02:52 t_train.py:1088 Suite per_task aggregated: [{'task_group': 'pusht', 'task_id': 0, 'metrics': {'sum_rewards': [188.95451523254388, 0.0, 131.6668909204912, 188.21219868101156, 113.98989688376514, 34.03557977115258, 135.75807857481112, 130.27927103436892, 68.34509545753272, 163.82104675707996, 50.7496755587086, 22.899157760555724, 50.57261090775397, 177.60943948971425, 173.11126383979024, 51.93516824747424, 24.090092366544688, 31.985565686493068, 11.290621601706935, 38.533861675231606], 'max_rewards': [0.925951540900638, 0.0, 0.9668913924713711, 1.0, 0.6194864180543507, 0.31272866680221445, 0.9343215624170437, 1.0, 1.0, 0.9794472730639343, 1.0, 0.538651342463947, 1.0, 0.9898718512848445, 0.6754671631433786, 1.0, 1.0, 1.0, 1.0, 1.0], 'successes': [False, False, False, True, False, False, False, True, True, False, True, False, True, False, False, True, True, True, True, True], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_035000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_035000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_035000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_035000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}, 'n_episodes': 20, 'n_success': 10, 'pc_success': 50.0, 'pc_success_ci95': [29.92980081982124, 70.07019918017876]}]
INFO 2026-10-10 16:02:52 t_train.py:1088 Suite per_group aggregated: {'pusht': {'avg_sum_reward': 89.39200152233653, 'avg_max_reward': 0.8471408605300862, 'pc_success': 50.0, 'n_episodes': 20, 'n_success': 10, 'pc_success_ci95': [29.92980081982124, 70.07019918017876], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_035000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_035000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_035000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_035000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}}
INFO 2026-10-10 16:02:52 t_train.py:1088 Suite overall aggregated: {'avg_sum_reward': 89.39200152233653, 'avg_max_reward': 0.8471408605300862, 'pc_success': 50.0, 'n_episodes': 20, 'n_success': 10, 'pc_success_ci95': [29.92980081982124, 70.07019918017876], 'eval_s': 19.298336029052734, 'eval_ep_s': 0.9649168133735657, 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_035000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_035000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_035000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_035000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}
WARNING 2026-10-10 16:02:52 db_utils.py:193 WandB logging of key "per_task" was ignored as its type "<class 'list'>" is not handled by this wrapper.
WARNING 2026-10-10 16:02:52 db_utils.py:193 WandB logging of key "per_group" was ignored as its type "<class 'dict'>" is not handled by this wrapper.
WARNING 2026-10-10 16:02:52 db_utils.py:193 WandB logging of key "overall" was ignored as its type "<class 'dict'>" is not handled by this wrapper.

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INFO 2026-10-10 16:29:12 t_train.py:1012 Checkpoint policy after step 40000
INFO 2026-10-10 16:29:13 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/040000/pretrained_model!
INFO 2026-10-10 16:29:15 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht_long/checkpoints/040000/pretrained_model_ema!
INFO 2026-10-10 16:29:17 t_train.py:1055 Eval policy at step 40000
INFO 2026-10-10 16:29:17 t_train.py:1062 Evaluating the EMA weights


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  check_env_attributes_and_types(env)



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Running rollout with at most 300 steps:   1%|▏         | 4/300 [00:01<05:04,  1.03s/it, running_success_rate=0.0%]


Running rollout with at most 300 steps:   2%|▏         | 5/300 [00:01<00:52,  5.65it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   2%|▏         | 5/300 [00:01<00:52,  5.65it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   2%|▏         | 6/300 [00:01<00:52,  5.65it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   2%|▏         | 7/300 [00:01<00:51,  5.65it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   3%|▎         | 8/300 [00:01<00:51,  5.65it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   3%|▎         | 9/300 [00:01<00:27, 10.51it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   3%|▎         | 9/300 [00:01<00:27, 10.51it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   3%|▎         | 10/300 [00:01<00:27, 10.51it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   4%|▎         | 11/300 [00:01<00:27, 10.51it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   4%|▍         | 12/300 [00:01<00:27, 10.51it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   4%|▍         | 13/300 [00:01<00:18, 15.15it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   4%|▍         | 13/300 [00:01<00:18, 15.15it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   5%|▍         | 14/300 [00:01<00:18, 15.15it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   5%|▌         | 15/300 [00:01<00:18, 15.15it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   5%|▌         | 16/300 [00:01<00:18, 15.15it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   6%|▌         | 17/300 [00:01<00:14, 19.49it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   6%|▌         | 17/300 [00:01<00:14, 19.49it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   6%|▌         | 18/300 [00:01<00:14, 19.49it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   6%|▋         | 19/300 [00:01<00:14, 19.49it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   7%|▋         | 20/300 [00:01<00:14, 19.49it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   7%|▋         | 21/300 [00:01<00:12, 23.24it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   7%|▋         | 21/300 [00:01<00:12, 23.24it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   7%|▋         | 22/300 [00:01<00:11, 23.24it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   8%|▊         | 23/300 [00:01<00:11, 23.24it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   8%|▊         | 24/300 [00:01<00:11, 23.24it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   8%|▊         | 25/300 [00:01<00:10, 26.48it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   8%|▊         | 25/300 [00:01<00:10, 26.48it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   9%|▊         | 26/300 [00:01<00:10, 26.48it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   9%|▉         | 27/300 [00:01<00:10, 26.48it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   9%|▉         | 28/300 [00:01<00:10, 26.48it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|▉         | 29/300 [00:01<00:09, 29.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|▉         | 29/300 [00:01<00:09, 29.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|█         | 30/300 [00:01<00:09, 29.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|█         | 31/300 [00:01<00:09, 29.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 32/300 [00:02<00:09, 29.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 33/300 [00:02<00:29,  8.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 33/300 [00:02<00:29,  8.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█▏        | 34/300 [00:02<00:29,  8.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 35/300 [00:03<00:29,  8.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 36/300 [00:03<00:29,  8.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 37/300 [00:03<00:22, 11.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 37/300 [00:03<00:22, 11.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 38/300 [00:03<00:22, 11.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 39/300 [00:03<00:22, 11.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 40/300 [00:03<00:22, 11.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▎        | 41/300 [00:03<00:17, 14.81it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▎        | 41/300 [00:03<00:17, 14.81it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▍        | 42/300 [00:03<00:17, 14.81it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▍        | 43/300 [00:03<00:17, 14.81it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▍        | 44/300 [00:03<00:17, 14.81it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▌        | 45/300 [00:03<00:14, 18.11it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▌        | 45/300 [00:03<00:14, 18.11it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▌        | 46/300 [00:03<00:14, 18.11it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▌        | 47/300 [00:03<00:13, 18.11it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▌        | 48/300 [00:03<00:13, 18.11it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▋        | 49/300 [00:03<00:11, 21.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▋        | 49/300 [00:03<00:11, 21.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 50/300 [00:03<00:11, 21.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 51/300 [00:03<00:11, 21.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 52/300 [00:03<00:11, 21.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 53/300 [00:03<00:10, 24.43it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 53/300 [00:03<00:10, 24.43it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 54/300 [00:03<00:10, 24.43it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 55/300 [00:03<00:10, 24.43it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▊        | 56/300 [00:03<00:09, 24.43it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 57/300 [00:03<00:08, 27.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 57/300 [00:03<00:08, 27.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 58/300 [00:03<00:08, 27.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|█▉        | 59/300 [00:03<00:08, 27.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 60/300 [00:03<00:08, 27.10it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 61/300 [00:03<00:08, 28.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 61/300 [00:03<00:08, 28.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  21%|██        | 62/300 [00:03<00:08, 28.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  21%|██        | 63/300 [00:03<00:08, 28.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  21%|██▏       | 64/300 [00:04<00:08, 28.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 65/300 [00:04<00:25,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 65/300 [00:04<00:25,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 66/300 [00:04<00:25,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 67/300 [00:04<00:25,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 68/300 [00:04<00:24,  9.30it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 69/300 [00:04<00:19, 11.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 69/300 [00:04<00:19, 11.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 70/300 [00:04<00:19, 11.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▎       | 71/300 [00:04<00:19, 11.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 72/300 [00:05<00:19, 11.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 73/300 [00:05<00:15, 15.00it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 73/300 [00:05<00:15, 15.00it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  25%|██▍       | 74/300 [00:05<00:15, 15.00it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  25%|██▌       | 75/300 [00:05<00:14, 15.00it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  25%|██▌       | 76/300 [00:05<00:14, 15.00it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 77/300 [00:05<00:12, 18.21it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 77/300 [00:05<00:12, 18.21it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 78/300 [00:05<00:12, 18.21it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▋       | 79/300 [00:05<00:12, 18.21it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 80/300 [00:05<00:12, 18.21it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 81/300 [00:05<00:10, 21.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 81/300 [00:05<00:10, 21.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 82/300 [00:05<00:10, 21.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 83/300 [00:05<00:10, 21.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 84/300 [00:05<00:10, 21.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:08, 24.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:08, 24.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▊       | 86/300 [00:05<00:08, 24.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▉       | 87/300 [00:05<00:08, 24.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▉       | 88/300 [00:05<00:08, 24.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:07, 27.07it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:07, 27.07it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|███       | 90/300 [00:05<00:07, 27.07it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|███       | 91/300 [00:05<00:07, 27.07it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  31%|███       | 92/300 [00:05<00:07, 27.07it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 29.12it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 29.12it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  31%|███▏      | 94/300 [00:05<00:07, 29.12it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  32%|███▏      | 95/300 [00:05<00:07, 29.12it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  32%|███▏      | 96/300 [00:06<00:07, 29.12it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:21,  9.31it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:21,  9.31it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  33%|███▎      | 98/300 [00:06<00:21,  9.31it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  33%|███▎      | 99/300 [00:06<00:21,  9.31it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  33%|███▎      | 100/300 [00:06<00:21,  9.31it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 11.97it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 11.97it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  34%|███▍      | 102/300 [00:06<00:16, 11.97it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  34%|███▍      | 103/300 [00:06<00:16, 11.97it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  35%|███▍      | 104/300 [00:06<00:16, 11.97it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  35%|███▌      | 105/300 [00:06<00:13, 14.82it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  35%|███▌      | 105/300 [00:06<00:13, 14.82it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  35%|███▌      | 106/300 [00:06<00:13, 14.82it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  36%|███▌      | 107/300 [00:07<00:13, 14.82it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  36%|███▌      | 108/300 [00:07<00:12, 14.82it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:07<00:10, 17.94it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:07<00:10, 17.94it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  37%|███▋      | 110/300 [00:07<00:10, 17.94it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  37%|███▋      | 111/300 [00:07<00:10, 17.94it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  37%|███▋      | 112/300 [00:07<00:10, 17.94it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  38%|███▊      | 113/300 [00:07<00:08, 21.14it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  38%|███▊      | 113/300 [00:07<00:08, 21.14it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  38%|███▊      | 114/300 [00:07<00:08, 21.14it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  38%|███▊      | 115/300 [00:07<00:08, 21.14it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  39%|███▊      | 116/300 [00:07<00:08, 21.14it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  39%|███▉      | 117/300 [00:07<00:07, 24.14it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  39%|███▉      | 117/300 [00:07<00:07, 24.14it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  39%|███▉      | 118/300 [00:07<00:07, 24.14it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  40%|███▉      | 119/300 [00:07<00:07, 24.14it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  40%|████      | 120/300 [00:07<00:07, 24.14it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  40%|████      | 121/300 [00:07<00:06, 26.77it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  40%|████      | 121/300 [00:07<00:06, 26.77it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  41%|████      | 122/300 [00:07<00:06, 26.77it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  41%|████      | 123/300 [00:07<00:06, 26.77it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  41%|████▏     | 124/300 [00:07<00:06, 26.77it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 29.01it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 29.01it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  42%|████▏     | 126/300 [00:07<00:05, 29.01it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  42%|████▏     | 127/300 [00:07<00:05, 29.01it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 128/300 [00:08<00:05, 29.01it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.31it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.31it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 130/300 [00:08<00:18,  9.31it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▎     | 131/300 [00:08<00:18,  9.31it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▍     | 132/300 [00:08<00:18,  9.31it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:08<00:13, 11.98it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  45%|████▌     | 136/300 [00:08<00:13, 11.98it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:10, 15.00it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  46%|████▌     | 138/300 [00:08<00:10, 15.00it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  46%|████▋     | 139/300 [00:08<00:10, 15.00it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  47%|████▋     | 140/300 [00:08<00:10, 15.00it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:08<00:08, 18.18it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:08<00:08, 18.18it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  47%|████▋     | 142/300 [00:08<00:08, 18.18it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  48%|████▊     | 143/300 [00:09<00:08, 18.18it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  48%|████▊     | 144/300 [00:09<00:08, 18.18it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 21.37it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 21.37it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  49%|████▊     | 146/300 [00:09<00:07, 21.37it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  49%|████▉     | 147/300 [00:09<00:07, 21.37it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  49%|████▉     | 148/300 [00:09<00:07, 21.37it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:09<00:06, 24.36it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  50%|█████     | 151/300 [00:09<00:06, 24.36it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  51%|█████     | 152/300 [00:09<00:06, 24.36it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 26.96it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 26.96it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  51%|█████▏    | 154/300 [00:09<00:05, 26.96it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 155/300 [00:09<00:05, 26.96it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 156/300 [00:09<00:05, 26.96it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:04, 29.26it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:04, 29.26it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 158/300 [00:09<00:04, 29.26it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 159/300 [00:09<00:04, 29.26it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 160/300 [00:10<00:04, 29.26it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  54%|█████▎    | 161/300 [00:10<00:14,  9.33it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  54%|█████▎    | 161/300 [00:10<00:14,  9.33it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  54%|█████▍    | 162/300 [00:10<00:14,  9.33it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  54%|█████▍    | 163/300 [00:10<00:14,  9.33it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  55%|█████▍    | 164/300 [00:10<00:14,  9.33it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 165/300 [00:10<00:11, 12.01it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 165/300 [00:10<00:11, 12.01it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 166/300 [00:10<00:11, 12.01it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  56%|█████▌    | 167/300 [00:10<00:11, 12.01it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  56%|█████▌    | 168/300 [00:10<00:10, 12.01it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  56%|█████▋    | 169/300 [00:10<00:08, 15.00it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  56%|█████▋    | 169/300 [00:10<00:08, 15.00it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  57%|█████▋    | 170/300 [00:10<00:08, 15.00it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  57%|█████▋    | 171/300 [00:10<00:08, 15.00it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  57%|█████▋    | 172/300 [00:10<00:08, 15.00it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 173/300 [00:10<00:06, 18.18it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 173/300 [00:10<00:06, 18.18it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 174/300 [00:10<00:06, 18.18it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 175/300 [00:10<00:06, 18.18it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  59%|█████▊    | 176/300 [00:10<00:06, 18.18it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  59%|█████▉    | 177/300 [00:10<00:05, 21.33it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  59%|█████▉    | 177/300 [00:10<00:05, 21.33it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  59%|█████▉    | 178/300 [00:10<00:05, 21.33it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  60%|█████▉    | 179/300 [00:10<00:05, 21.33it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  60%|██████    | 180/300 [00:11<00:05, 21.33it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  60%|██████    | 181/300 [00:11<00:04, 24.29it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  60%|██████    | 181/300 [00:11<00:04, 24.29it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  61%|██████    | 182/300 [00:11<00:04, 24.29it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  61%|██████    | 183/300 [00:11<00:04, 24.29it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  61%|██████▏   | 184/300 [00:11<00:04, 24.29it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 185/300 [00:11<00:04, 26.90it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 185/300 [00:11<00:04, 26.90it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 186/300 [00:11<00:04, 26.90it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 187/300 [00:11<00:04, 26.90it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 188/300 [00:11<00:04, 26.90it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:03, 29.12it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:03, 29.12it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 190/300 [00:11<00:03, 29.12it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  64%|██████▎   | 191/300 [00:11<00:03, 29.12it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 192/300 [00:12<00:03, 29.12it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 193/300 [00:12<00:11,  9.32it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 193/300 [00:12<00:11,  9.32it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  65%|██████▍   | 194/300 [00:12<00:11,  9.32it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  65%|██████▌   | 195/300 [00:12<00:11,  9.32it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  65%|██████▌   | 196/300 [00:12<00:11,  9.32it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 197/300 [00:12<00:08, 11.91it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 197/300 [00:12<00:08, 11.91it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 198/300 [00:12<00:08, 11.91it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  66%|██████▋   | 199/300 [00:12<00:08, 11.91it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 200/300 [00:12<00:08, 11.91it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 14.89it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 14.89it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 202/300 [00:12<00:06, 14.89it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 203/300 [00:12<00:06, 14.89it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 204/300 [00:12<00:06, 14.89it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 205/300 [00:12<00:05, 18.08it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 205/300 [00:12<00:05, 18.08it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  69%|██████▊   | 206/300 [00:12<00:05, 18.08it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  69%|██████▉   | 207/300 [00:12<00:05, 18.08it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  69%|██████▉   | 208/300 [00:12<00:05, 18.08it/s, running_success_rate=30.0%]


Running rollout with at most 300 steps:  70%|██████▉   | 209/300 [00:12<00:04, 21.24it/s, running_success_rate=30.0%]


Running rollout with at most 300 steps:  70%|██████▉   | 209/300 [00:12<00:04, 21.24it/s, running_success_rate=30.0%]


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Running rollout with at most 300 steps:  71%|███████   | 212/300 [00:12<00:04, 21.24it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  71%|███████   | 213/300 [00:12<00:03, 24.20it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  71%|███████   | 213/300 [00:12<00:03, 24.20it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  71%|███████▏  | 214/300 [00:12<00:03, 24.20it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 215/300 [00:13<00:03, 24.20it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 216/300 [00:13<00:03, 24.20it/s, running_success_rate=35.0%]


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Running rollout with at most 300 steps:  73%|███████▎  | 218/300 [00:13<00:03, 26.91it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 219/300 [00:13<00:03, 26.91it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 220/300 [00:13<00:02, 26.91it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  74%|███████▎  | 221/300 [00:13<00:02, 29.10it/s, running_success_rate=35.0%]


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Running rollout with at most 300 steps:  74%|███████▍  | 223/300 [00:13<00:02, 29.10it/s, running_success_rate=35.0%]


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Running rollout with at most 300 steps:  76%|███████▋  | 229/300 [00:14<00:05, 12.00it/s, running_success_rate=35.0%]


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Running rollout with at most 300 steps:  84%|████████▍ | 253/300 [00:15<00:01, 28.65it/s, running_success_rate=40.0%]


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Stepping through eval batches:   0%|          | 0/1 [00:18<?, ?it/s, running_success_rate=40.0%]

Stepping through eval batches: 100%|██████████| 1/1 [00:18<00:00, 18.47s/it, running_success_rate=40.0%]
Stepping through eval batches: 100%|██████████| 1/1 [00:18<00:00, 18.48s/it, running_success_rate=40.0%]
INFO 2026-10-10 16:29:36 t_train.py:1088 Suite per_task aggregated: [{'task_group': 'pusht', 'task_id': 0, 'metrics': {'sum_rewards': [101.2285978880508, 0.0, 52.74134556414985, 100.94406016249093, 100.34346542548482, 66.88445477426899, 158.240328568752, 165.05941402381904, 135.55565937311192, 81.61690071167943, 183.35098501301786, 85.18589136195321, 148.59212668030042, 66.18438518544883, 132.25725202474504, 149.52863808558448, 24.433884604465504, 48.05264198512582, 68.24581878691707, 151.72383137107667], 'max_rewards': [1.0, 0.0, 1.0, 1.0, 0.4910727263000152, 0.9930242482440282, 0.9657974609370084, 0.995659600622879, 0.9470679779667865, 0.5401201535240648, 0.9591096892010407, 0.536305084975984, 0.9905510930621464, 1.0, 0.919705856782908, 1.0, 1.0, 1.0, 1.0, 0.9785500824801057], 'successes': [True, False, True, True, False, False, False, False, False, False, False, False, False, True, False, True, True, True, True, False], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_040000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_040000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_040000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_040000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}, 'n_episodes': 20, 'n_success': 8, 'pc_success': 40.0, 'pc_success_ci95': [21.88065323728171, 61.34184992377468]}]
INFO 2026-10-10 16:29:36 t_train.py:1088 Suite per_group aggregated: {'pusht': {'avg_sum_reward': 101.00848407952212, 'avg_max_reward': 0.8658481987048482, 'pc_success': 40.0, 'n_episodes': 20, 'n_success': 8, 'pc_success_ci95': [21.88065323728171, 61.34184992377468], 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_040000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_040000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_040000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_040000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}}
INFO 2026-10-10 16:29:36 t_train.py:1088 Suite overall aggregated: {'avg_sum_reward': 101.00848407952212, 'avg_max_reward': 0.8658481987048482, 'pc_success': 40.0, 'n_episodes': 20, 'n_success': 8, 'pc_success_ci95': [21.88065323728171, 61.34184992377468], 'eval_s': 18.726484537124634, 'eval_ep_s': 0.9363242387771606, 'video_paths': ['outputs/train/diffusion_pusht_long/eval/videos_step_040000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_040000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_040000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht_long/eval/videos_step_040000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}
WARNING 2026-10-10 16:29:36 db_utils.py:193 WandB logging of key "per_task" was ignored as its type "<class 'list'>" is not handled by this wrapper.
WARNING 2026-10-10 16:29:36 db_utils.py:193 WandB logging of key "per_group" was ignored as its type "<class 'dict'>" is not handled by this wrapper.
WARNING 2026-10-10 16:29:36 db_utils.py:193 WandB logging of key "overall" was ignored as its type "<class 'dict'>" is not handled by this wrapper.

Training: 100%|██████████| 40000/40000 [3:34:26<00:00,  3.11step/s]
INFO 2026-10-10 16:29:36 t_train.py:1116 End of training
Traceback (most recent call last):
  File "/home/bibi/PythonProjects/lerobot/.venv/bin/lerobot-train", line 10, in <module>
    sys.exit(main())
             ^^^^^^
  File "/home/bibi/PythonProjects/lerobot/src/lerobot/scripts/lerobot_train.py", line 1178, in main
    train()
  File "/home/bibi/PythonProjects/lerobot/src/lerobot/configs/parser.py", line 438, in wrapper_inner
    response = fn(cfg, *args, **kwargs)
               ^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/bibi/PythonProjects/lerobot/src/lerobot/scripts/lerobot_train.py", line 1122, in train
    publish_trained_model(
  File "/home/bibi/PythonProjects/lerobot/src/lerobot/common/train_utils.py", line 662, in publish_trained_model
    model.push_to_hub(repo_id, private=model_cfg.private, ignore_patterns=ignore)
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/huggingface_hub/utils/_validators.py", line 91, in _inner_fn
    return fn(*args, **kwargs)
           ^^^^^^^^^^^^^^^^^^^
  File "/home/bibi/PythonProjects/lerobot/src/lerobot/utils/hub.py", line 238, in push_to_hub
    self.save_pretrained(saved_path, card_kwargs=card_kwargs)
  File "/home/bibi/PythonProjects/lerobot/src/lerobot/utils/hub.py", line 104, in save_pretrained
    self._save_pretrained(save_directory)
  File "/home/bibi/PythonProjects/lerobot/src/lerobot/policies/pretrained.py", line 153, in _save_pretrained
    save_torch_state_dict(state_dict, str(save_directory), max_shard_size=_SINGLE_FILE_SHARD_SIZE)
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/huggingface_hub/serialization/_torch.py", line 281, in save_torch_state_dict
    save_file_fn(shard, os.path.join(save_directory, filename), **safe_file_kwargs)  # ty: ignore[invalid-argument-type]
    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/bibi/PythonProjects/lerobot/.venv/lib/python3.12/site-packages/safetensors/torch.py", line 323, in save_file
    serialize_file(
safetensors._safetensors_rust.SafetensorError: Error while serializing: I/O error: Disk quota exceeded (os error 122)