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 08:16:43 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': 64,
 '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',
 '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',
            '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': 2500,
 'scheduler': {'name': 'cosine', 'num_warmup_steps': 500, 'type': 'diffuser'},
 'seed': 1000,
 'steps': 20000,
 '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',
           'resume': None,
           'run_id': None}}
INFO 2026-10-10 08:16:44 db_utils.py:124 Logs will be synced with wandb.
INFO 2026-10-10 08:16:44 db_utils.py:125 Track this run --> https://wandb.ai/thav_-vanier-research-ai/diffusion_pusht/runs/6p9ylfpa
INFO 2026-10-10 08:16:44 ot_train.py:602 Creating dataset

Fetching 4 files:   0%|          | 0/4 [00:00<?, ?it/s]
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INFO 2026-10-10 08:16:44 ot_train.py:638 Creating policy
INFO 2026-10-10 08:16:45 ot_train.py:733 Creating optimizer and scheduler
INFO 2026-10-10 08:16:45 ot_train.py:793 Output dir: outputs/train/diffusion_pusht
INFO 2026-10-10 08:16:45 ot_train.py:795 cfg.env.task='PushT-v0'
INFO 2026-10-10 08:16:45 ot_train.py:796 Creating environment processors
INFO 2026-10-10 08:16:45 ot_train.py:800 cfg.steps=20000 (20K)
INFO 2026-10-10 08:16:45 ot_train.py:801 dataset.num_frames=25650 (26K)
INFO 2026-10-10 08:16:45 ot_train.py:802 dataset.num_episodes=206
INFO 2026-10-10 08:16:45 ot_train.py:803 Effective batch size: 64 x 1 dp workers x 1 grad accum = 64 (topology: dp_replicate=1, dp_shard=1)
INFO 2026-10-10 08:16:45 ot_train.py:808 num_learnable_params=262709026 (263M)
INFO 2026-10-10 08:16:45 ot_train.py:809 num_total_params=262709026 (263M)
INFO 2026-10-10 08:16:45 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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INFO 2026-10-10 08:22:07 t_train.py:1012 Checkpoint policy after step 2500
INFO 2026-10-10 08:22:07 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/002500/pretrained_model!
INFO 2026-10-10 08:22:08 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/002500/pretrained_model_ema!

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Training:  25%|██▍       | 4950/20000 [10:17<29:41,  8.45step/s]INFO 2026-10-10 08:27:02 ot_train.py:970 step:5K smpl:317K ep:3K epch:12.35 loss:0.024 grdn:0.369 lr:8.8e-05 data_s:0.013 prep_s:0.000 updt_s:0.106 step_s:0.119 smp/s:536 mem_gb:5.95

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Training:  25%|██▌       | 5000/20000 [10:23<29:38,  8.43step/s]INFO 2026-10-10 08:27:08 ot_train.py:970 step:5K smpl:320K ep:3K epch:12.48 loss:0.025 grdn:0.358 lr:8.8e-05 data_s:0.009 prep_s:0.000 updt_s:0.106 step_s:0.116 smp/s:553 mem_gb:5.95
INFO 2026-10-10 08:27:08 t_train.py:1012 Checkpoint policy after step 5000
INFO 2026-10-10 08:27:09 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/005000/pretrained_model!
INFO 2026-10-10 08:27:10 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/005000/pretrained_model_ema!
INFO 2026-10-10 08:27:12 t_train.py:1055 Eval policy at step 5000
INFO 2026-10-10 08:27:12 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<00:08, 25.82it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  31%|███       | 92/300 [00:14<00:08, 25.82it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:14<00:07, 27.97it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  39%|███▊      | 116/300 [00:16<00:08, 21.01it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:16<00:06, 28.56it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  42%|████▏     | 127/300 [00:16<00:06, 28.56it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 128/300 [00:17<00:06, 28.56it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:17<00:18,  9.31it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:17<00:18,  9.31it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  43%|████▎     | 130/300 [00:17<00:18,  9.31it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  44%|████▎     | 131/300 [00:17<00:18,  9.31it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:17<00:13, 11.94it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:17<00:08, 17.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  47%|████▋     | 142/300 [00:17<00:08, 17.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  48%|████▊     | 143/300 [00:17<00:08, 17.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  48%|████▊     | 144/300 [00:17<00:08, 17.94it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:17<00:07, 21.01it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:17<00:07, 21.01it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  49%|████▉     | 147/300 [00:18<00:07, 21.01it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  49%|████▉     | 148/300 [00:18<00:07, 21.01it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:18<00:06, 23.83it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  50%|█████     | 151/300 [00:18<00:06, 23.83it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  51%|█████     | 152/300 [00:18<00:06, 23.83it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:18<00:05, 26.37it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  51%|█████▏    | 154/300 [00:18<00:05, 26.37it/s, running_success_rate=0.0%]


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Stepping through eval batches:   0%|          | 0/1 [00:27<?, ?it/s, running_success_rate=10.0%]

Stepping through eval batches: 100%|██████████| 1/1 [00:27<00:00, 27.45s/it, running_success_rate=10.0%]
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INFO 2026-10-10 08:27:40 t_train.py:1088 Suite per_task aggregated: [{'task_group': 'pusht', 'task_id': 0, 'metrics': {'sum_rewards': [82.2780788831621, 74.97929920102652, 83.20240832020936, 124.26669476432909, 3.084435137811898, 127.3293101655014, 100.61742403763459, 86.1547784562996, 102.5973751133238, 110.31124908455692, 135.2127818663884, 43.56208850950016, 54.162907774747026, 167.7606862886297, 45.567292745320614, 141.51071067683915, 64.18405001629128, 49.88946432641316, 137.30700405020735, 141.2171105630968], 'max_rewards': [1.0, 0.5955671295772731, 0.9096307242306267, 0.950247637780414, 0.19774589640623957, 0.9714653234072026, 0.9216347531181432, 0.7156281732560881, 0.6587085363504175, 0.45490759121486113, 0.9457037348477204, 0.5310987354531498, 1.0, 0.9882156915879365, 0.5523944678548971, 0.8919199932886563, 0.9843716598072466, 0.4275839566758777, 0.8931374760477597, 0.9124398664916454], 'successes': [True, False, False, False, False, False, False, False, False, False, False, False, True, False, False, False, False, False, False, False], 'video_paths': ['outputs/train/diffusion_pusht/eval/videos_step_005000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_005000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_005000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_005000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}, 'n_episodes': 20, 'n_success': 2, 'pc_success': 10.0, 'pc_success_ci95': [2.7866481213768224, 30.103364522848725]}]
INFO 2026-10-10 08:27:40 t_train.py:1088 Suite per_group aggregated: {'pusht': {'avg_sum_reward': 93.75975749906445, 'avg_max_reward': 0.7751200673698078, 'pc_success': 10.0, 'n_episodes': 20, 'n_success': 2, 'pc_success_ci95': [2.7866481213768224, 30.103364522848725], 'video_paths': ['outputs/train/diffusion_pusht/eval/videos_step_005000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_005000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_005000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_005000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}}
INFO 2026-10-10 08:27:40 t_train.py:1088 Suite overall aggregated: {'avg_sum_reward': 93.75975749906445, 'avg_max_reward': 0.7751200673698078, 'pc_success': 10.0, 'n_episodes': 20, 'n_success': 2, 'pc_success_ci95': [2.7866481213768224, 30.103364522848725], 'eval_s': 27.717278957366943, 'eval_ep_s': 1.3858639597892761, 'video_paths': ['outputs/train/diffusion_pusht/eval/videos_step_005000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_005000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_005000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_005000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}
WARNING 2026-10-10 08:27:40 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 08:27:40 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 08:27:40 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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INFO 2026-10-10 08:32:36 t_train.py:1012 Checkpoint policy after step 7500
INFO 2026-10-10 08:32:37 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/007500/pretrained_model!
INFO 2026-10-10 08:32:38 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/007500/pretrained_model_ema!

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Training:  50%|█████     | 10000/20000 [20:51<19:40,  8.47step/s]INFO 2026-10-10 08:37:37 ot_train.py:970 step:10K smpl:640K ep:5K epch:24.95 loss:0.017 grdn:0.264 lr:5.2e-05 data_s:0.009 prep_s:0.000 updt_s:0.106 step_s:0.116 smp/s:554 mem_gb:5.96
INFO 2026-10-10 08:37:37 t_train.py:1012 Checkpoint policy after step 10000
INFO 2026-10-10 08:37:37 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/010000/pretrained_model!
INFO 2026-10-10 08:37:39 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/010000/pretrained_model_ema!
INFO 2026-10-10 08:37:40 t_train.py:1055 Eval policy at step 10000
INFO 2026-10-10 08:37:40 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:  38%|███▊      | 113/300 [00:07<00:08, 21.04it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  39%|███▊      | 116/300 [00:07<00:08, 21.04it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 28.45it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.35it/s, running_success_rate=0.0%]


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Running rollout with at most 300 steps:  44%|████▎     | 131/300 [00:08<00:18,  9.35it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▍     | 132/300 [00:08<00:17,  9.35it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  45%|████▌     | 136/300 [00:08<00:13, 11.99it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:10, 14.90it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:10, 14.90it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  46%|████▋     | 139/300 [00:08<00:10, 14.90it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  47%|████▋     | 140/300 [00:08<00:10, 14.90it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:08<00:08, 18.00it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  47%|████▋     | 142/300 [00:09<00:08, 18.00it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 143/300 [00:09<00:08, 18.00it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 21.06it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  49%|████▉     | 147/300 [00:09<00:07, 21.06it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  49%|████▉     | 148/300 [00:09<00:07, 21.06it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  50%|█████     | 151/300 [00:09<00:06, 23.87it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  51%|█████     | 152/300 [00:09<00:06, 23.87it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 26.32it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 26.32it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  51%|█████▏    | 154/300 [00:09<00:05, 26.32it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 155/300 [00:09<00:05, 26.32it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 156/300 [00:09<00:05, 26.32it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:05, 28.46it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:05, 28.46it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 158/300 [00:09<00:04, 28.46it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 159/300 [00:09<00:04, 28.46it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 160/300 [00:10<00:04, 28.46it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  55%|█████▍    | 164/300 [00:10<00:14,  9.35it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 165/300 [00:10<00:11, 12.02it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 165/300 [00:10<00:11, 12.02it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 166/300 [00:10<00:11, 12.02it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  56%|█████▌    | 167/300 [00:10<00:11, 12.02it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  56%|█████▌    | 168/300 [00:10<00:10, 12.02it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  56%|█████▋    | 169/300 [00:10<00:08, 15.03it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  56%|█████▋    | 169/300 [00:10<00:08, 15.03it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  57%|█████▋    | 170/300 [00:10<00:08, 15.03it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  57%|█████▋    | 171/300 [00:10<00:08, 15.03it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  57%|█████▋    | 172/300 [00:10<00:08, 15.03it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 173/300 [00:10<00:06, 18.21it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 173/300 [00:10<00:06, 18.21it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 174/300 [00:10<00:06, 18.21it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 175/300 [00:10<00:06, 18.21it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  59%|█████▊    | 176/300 [00:10<00:06, 18.21it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  59%|█████▉    | 177/300 [00:10<00:05, 21.28it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  59%|█████▉    | 177/300 [00:11<00:05, 21.28it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  59%|█████▉    | 178/300 [00:11<00:05, 21.28it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  60%|█████▉    | 179/300 [00:11<00:05, 21.28it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  61%|██████▏   | 184/300 [00:11<00:04, 24.19it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 185/300 [00:11<00:04, 26.56it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  62%|██████▏   | 187/300 [00:11<00:04, 26.56it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 188/300 [00:11<00:04, 26.56it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:03, 28.71it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:03, 28.71it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 190/300 [00:11<00:03, 28.71it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  64%|██████▎   | 191/300 [00:11<00:03, 28.71it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 192/300 [00:12<00:03, 28.71it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 193/300 [00:12<00:11,  9.38it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  66%|██████▋   | 199/300 [00:12<00:08, 12.04it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 200/300 [00:12<00:08, 12.04it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 14.94it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 14.94it/s, running_success_rate=5.0%]


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INFO 2026-10-10 08:37:59 t_train.py:1088 Suite per_task aggregated: [{'task_group': 'pusht', 'task_id': 0, 'metrics': {'sum_rewards': [167.97509012890325, 104.43655215356458, 93.06652006896752, 148.9010545567947, 62.33716016107812, 120.17488871310422, 140.18824806229452, 95.55209442505706, 97.99752846451838, 119.29193544225448, 170.0161551364718, 56.779656606977746, 22.466214724797723, 40.682468021120165, 112.65341283833162, 85.76548601128152, 50.88464482166313, 140.37599074525758, 0.327935189893296, 135.23637402686316], 'max_rewards': [0.9806564491206243, 0.9056640439588333, 1.0, 1.0, 0.4528691390894801, 0.9827870902069045, 0.9532731902645261, 0.7986888984090226, 0.6569188924556865, 0.9199561145605274, 0.9959453515125746, 0.37083650726981116, 0.47836130974141916, 0.45494186230117223, 0.5053764829977132, 1.0, 0.6069133876886097, 0.9948480203168953, 0.07862327045275444, 0.9137137386696057], 'successes': [False, False, True, True, False, False, False, False, False, False, False, False, False, False, False, True, False, False, False, False], 'video_paths': ['outputs/train/diffusion_pusht/eval/videos_step_010000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_010000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_010000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_010000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}, 'n_episodes': 20, 'n_success': 3, 'pc_success': 15.0, 'pc_success_ci95': [5.236874589621659, 36.04188647407569]}]
INFO 2026-10-10 08:37:59 t_train.py:1088 Suite per_group aggregated: {'pusht': {'avg_sum_reward': 98.25547051495973, 'avg_max_reward': 0.7525186874508081, 'pc_success': 15.0, 'n_episodes': 20, 'n_success': 3, 'pc_success_ci95': [5.236874589621659, 36.04188647407569], 'video_paths': ['outputs/train/diffusion_pusht/eval/videos_step_010000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_010000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_010000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_010000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}}
INFO 2026-10-10 08:37:59 t_train.py:1088 Suite overall aggregated: {'avg_sum_reward': 98.25547051495973, 'avg_max_reward': 0.7525186874508081, 'pc_success': 15.0, 'n_episodes': 20, 'n_success': 3, 'pc_success_ci95': [5.236874589621659, 36.04188647407569], 'eval_s': 18.838664531707764, 'eval_ep_s': 0.9419332385063172, 'video_paths': ['outputs/train/diffusion_pusht/eval/videos_step_010000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_010000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_010000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_010000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}
WARNING 2026-10-10 08:37:59 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 08:37:59 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 08:37:59 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%|█████     | 10050/20000 [21:20<19:36,  8.46step/s]INFO 2026-10-10 08:38:05 ot_train.py:970 step:10K smpl:643K ep:5K epch:25.08 loss:0.017 grdn:0.242 lr:5.2e-05 data_s:0.008 prep_s:0.000 updt_s:0.106 step_s:0.115 smp/s:555 mem_gb:5.96

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INFO 2026-10-10 08:42:56 t_train.py:1012 Checkpoint policy after step 12500
INFO 2026-10-10 08:42:57 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/012500/pretrained_model!
INFO 2026-10-10 08:42:58 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/012500/pretrained_model_ema!

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INFO 2026-10-10 08:47:57 t_train.py:1012 Checkpoint policy after step 15000
INFO 2026-10-10 08:47:57 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/015000/pretrained_model!
INFO 2026-10-10 08:47:58 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/015000/pretrained_model_ema!
INFO 2026-10-10 08:48:00 t_train.py:1055 Eval policy at step 15000
INFO 2026-10-10 08:48:00 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:   9%|▉         | 27/300 [00:01<00:10, 25.71it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:   9%|▉         | 28/300 [00:01<00:10, 25.71it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|▉         | 29/300 [00:01<00:09, 28.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|▉         | 29/300 [00:01<00:09, 28.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|█         | 30/300 [00:01<00:09, 28.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|█         | 31/300 [00:01<00:09, 28.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 32/300 [00:02<00:09, 28.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 33/300 [00:02<00:29,  9.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 33/300 [00:02<00:29,  9.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█▏        | 34/300 [00:02<00:29,  9.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 35/300 [00:02<00:29,  9.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 36/300 [00:03<00:29,  9.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 37/300 [00:03<00:22, 11.77it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 37/300 [00:03<00:22, 11.77it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 38/300 [00:03<00:22, 11.77it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 39/300 [00:03<00:22, 11.77it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 40/300 [00:03<00:22, 11.77it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▎        | 41/300 [00:03<00:17, 14.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▎        | 41/300 [00:03<00:17, 14.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▍        | 42/300 [00:03<00:17, 14.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▍        | 43/300 [00:03<00:17, 14.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▍        | 44/300 [00:03<00:17, 14.85it/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, 21.31it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▋        | 49/300 [00:03<00:11, 21.31it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 50/300 [00:03<00:11, 21.31it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 51/300 [00:03<00:11, 21.31it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 52/300 [00:03<00:11, 21.31it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 53/300 [00:03<00:10, 24.29it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 53/300 [00:03<00:10, 24.29it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 54/300 [00:03<00:10, 24.29it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 55/300 [00:03<00:10, 24.29it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▊        | 56/300 [00:03<00:10, 24.29it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 57/300 [00:03<00:09, 26.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 57/300 [00:03<00:09, 26.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 58/300 [00:03<00:09, 26.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|█▉        | 59/300 [00:03<00:08, 26.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 60/300 [00:03<00:08, 26.85it/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,  9.37it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 65/300 [00:04<00:25,  9.37it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 66/300 [00:04<00:24,  9.37it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 67/300 [00:04<00:24,  9.37it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 68/300 [00:04<00:24,  9.37it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 69/300 [00:04<00:19, 12.04it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 69/300 [00:04<00:19, 12.04it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 70/300 [00:04<00:19, 12.04it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▎       | 71/300 [00:04<00:19, 12.04it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 72/300 [00:05<00:18, 12.04it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 73/300 [00:05<00:15, 14.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 73/300 [00:05<00:15, 14.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  25%|██▍       | 74/300 [00:05<00:15, 14.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  25%|██▌       | 75/300 [00:05<00:15, 14.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  25%|██▌       | 76/300 [00:05<00:14, 14.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 77/300 [00:05<00:12, 18.03it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 77/300 [00:05<00:12, 18.03it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 78/300 [00:05<00:12, 18.03it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▋       | 79/300 [00:05<00:12, 18.03it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 80/300 [00:05<00:12, 18.03it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 81/300 [00:05<00:10, 20.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 81/300 [00:05<00:10, 20.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 82/300 [00:05<00:10, 20.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 83/300 [00:05<00:10, 20.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 84/300 [00:05<00:10, 20.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:09, 23.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:09, 23.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▊       | 86/300 [00:05<00:09, 23.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▉       | 87/300 [00:05<00:08, 23.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▉       | 88/300 [00:05<00:08, 23.72it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:08, 26.35it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:08, 26.35it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|███       | 90/300 [00:05<00:07, 26.35it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|███       | 91/300 [00:05<00:07, 26.35it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 92/300 [00:05<00:07, 26.35it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 28.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 28.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███▏      | 94/300 [00:05<00:07, 28.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 95/300 [00:05<00:07, 28.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 96/300 [00:06<00:07, 28.52it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:21,  9.36it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:21,  9.36it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 98/300 [00:06<00:21,  9.36it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 99/300 [00:06<00:21,  9.36it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 100/300 [00:06<00:21,  9.36it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 12.00it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 12.00it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▍      | 102/300 [00:06<00:16, 12.00it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▍      | 103/300 [00:06<00:16, 12.00it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▍      | 104/300 [00:06<00:16, 12.00it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 105/300 [00:06<00:13, 14.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 105/300 [00:06<00:13, 14.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 106/300 [00:06<00:12, 14.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▌      | 107/300 [00:07<00:12, 14.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▌      | 108/300 [00:07<00:12, 14.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:07<00:10, 18.13it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:07<00:10, 18.13it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  37%|███▋      | 110/300 [00:07<00:10, 18.13it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  37%|███▋      | 111/300 [00:07<00:10, 18.13it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  37%|███▋      | 112/300 [00:07<00:10, 18.13it/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%]


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%|███▊      | 114/300 [00:07<00:08, 21.17it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  38%|███▊      | 115/300 [00:07<00:08, 21.17it/s, running_success_rate=0.0%]


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, 23.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  39%|███▉      | 117/300 [00:07<00:07, 23.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  39%|███▉      | 118/300 [00:07<00:07, 23.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  40%|███▉      | 119/300 [00:07<00:07, 23.98it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  40%|████      | 120/300 [00:07<00:07, 23.98it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  40%|████      | 121/300 [00:07<00:06, 26.36it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  40%|████      | 121/300 [00:07<00:06, 26.36it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  41%|████      | 122/300 [00:07<00:06, 26.36it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  41%|████      | 123/300 [00:07<00:06, 26.36it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  41%|████▏     | 124/300 [00:07<00:06, 26.36it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 28.47it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 28.47it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  42%|████▏     | 126/300 [00:07<00:06, 28.47it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  42%|████▏     | 127/300 [00:07<00:06, 28.47it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 128/300 [00:08<00:06, 28.47it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.35it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.35it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 130/300 [00:08<00:18,  9.35it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▎     | 131/300 [00:08<00:18,  9.35it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▍     | 132/300 [00:08<00:17,  9.35it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:08<00:13, 11.97it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:08<00:13, 11.97it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  45%|████▍     | 134/300 [00:08<00:13, 11.97it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  45%|████▌     | 135/300 [00:08<00:13, 11.97it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  45%|████▌     | 136/300 [00:08<00:13, 11.97it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:10, 14.95it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:10, 14.95it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▌     | 138/300 [00:08<00:10, 14.95it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▋     | 139/300 [00:08<00:10, 14.95it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  47%|████▋     | 140/300 [00:08<00:10, 14.95it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:08<00:08, 18.10it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:08<00:08, 18.10it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  47%|████▋     | 142/300 [00:08<00:08, 18.10it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 143/300 [00:09<00:08, 18.10it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 144/300 [00:09<00:08, 18.10it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 21.15it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 21.15it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  49%|████▊     | 146/300 [00:09<00:07, 21.15it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  49%|████▉     | 148/300 [00:09<00:07, 21.15it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:09<00:06, 23.95it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  51%|█████     | 152/300 [00:09<00:06, 23.95it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 26.57it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 26.57it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  51%|█████▏    | 154/300 [00:09<00:05, 26.57it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:04, 28.69it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:04, 28.69it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 158/300 [00:09<00:04, 28.69it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 159/300 [00:09<00:04, 28.69it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  53%|█████▎    | 160/300 [00:10<00:04, 28.69it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  54%|█████▎    | 161/300 [00:10<00:14,  9.38it/s, running_success_rate=10.0%]


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Running rollout with at most 300 steps:  54%|█████▍    | 163/300 [00:10<00:14,  9.38it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  55%|█████▍    | 164/300 [00:10<00:14,  9.38it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 165/300 [00:10<00:11, 12.07it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 165/300 [00:10<00:11, 12.07it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  55%|█████▌    | 166/300 [00:10<00:11, 12.07it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  56%|█████▌    | 167/300 [00:10<00:11, 12.07it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  56%|█████▌    | 168/300 [00:10<00:10, 12.07it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  56%|█████▋    | 169/300 [00:10<00:08, 15.08it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  56%|█████▋    | 169/300 [00:10<00:08, 15.08it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  57%|█████▋    | 170/300 [00:10<00:08, 15.08it/s, running_success_rate=10.0%]


Running rollout with at most 300 steps:  57%|█████▋    | 171/300 [00:10<00:08, 15.08it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  57%|█████▋    | 172/300 [00:10<00:08, 15.08it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 173/300 [00:10<00:06, 18.23it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 173/300 [00:10<00:06, 18.23it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 174/300 [00:10<00:06, 18.23it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  58%|█████▊    | 175/300 [00:10<00:06, 18.23it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  59%|█████▊    | 176/300 [00:10<00:06, 18.23it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  59%|█████▉    | 177/300 [00:10<00:05, 21.39it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  59%|█████▉    | 177/300 [00:10<00:05, 21.39it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  59%|█████▉    | 178/300 [00:10<00:05, 21.39it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  60%|█████▉    | 179/300 [00:11<00:05, 21.39it/s, running_success_rate=15.0%]


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Running rollout with at most 300 steps:  60%|██████    | 181/300 [00:11<00:04, 24.31it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  60%|██████    | 181/300 [00:11<00:04, 24.31it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  61%|██████    | 182/300 [00:11<00:04, 24.31it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  61%|██████    | 183/300 [00:11<00:04, 24.31it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  61%|██████▏   | 184/300 [00:11<00:04, 24.31it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 185/300 [00:11<00:04, 26.88it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 185/300 [00:11<00:04, 26.88it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 186/300 [00:11<00:04, 26.88it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 187/300 [00:11<00:04, 26.88it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 188/300 [00:11<00:04, 26.88it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:03, 28.97it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:03, 28.97it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 190/300 [00:11<00:03, 28.97it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  64%|██████▎   | 191/300 [00:11<00:03, 28.97it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 192/300 [00:12<00:03, 28.97it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 193/300 [00:12<00:11,  9.40it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 193/300 [00:12<00:11,  9.40it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  65%|██████▍   | 194/300 [00:12<00:11,  9.40it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  65%|██████▌   | 195/300 [00:12<00:11,  9.40it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  65%|██████▌   | 196/300 [00:12<00:11,  9.40it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 197/300 [00:12<00:08, 12.08it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 197/300 [00:12<00:08, 12.08it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 198/300 [00:12<00:08, 12.08it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  66%|██████▋   | 199/300 [00:12<00:08, 12.08it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 200/300 [00:12<00:08, 12.08it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 15.07it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 15.07it/s, running_success_rate=15.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 202/300 [00:12<00:06, 15.07it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 203/300 [00:12<00:06, 15.07it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 204/300 [00:12<00:06, 15.07it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 205/300 [00:12<00:05, 18.15it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 205/300 [00:12<00:05, 18.15it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  69%|██████▊   | 206/300 [00:12<00:05, 18.15it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  69%|██████▉   | 207/300 [00:12<00:05, 18.15it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  69%|██████▉   | 208/300 [00:12<00:05, 18.15it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  70%|██████▉   | 209/300 [00:12<00:04, 21.20it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  70%|██████▉   | 209/300 [00:12<00:04, 21.20it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  70%|███████   | 210/300 [00:12<00:04, 21.20it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  70%|███████   | 211/300 [00:12<00:04, 21.20it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  71%|███████   | 212/300 [00:12<00:04, 21.20it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  71%|███████   | 213/300 [00:12<00:03, 24.16it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  71%|███████   | 213/300 [00:12<00:03, 24.16it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  71%|███████▏  | 214/300 [00:12<00:03, 24.16it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 215/300 [00:13<00:03, 24.16it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 216/300 [00:13<00:03, 24.16it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 217/300 [00:13<00:03, 26.75it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 217/300 [00:13<00:03, 26.75it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 218/300 [00:13<00:03, 26.75it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 219/300 [00:13<00:03, 26.75it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 220/300 [00:13<00:02, 26.75it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  74%|███████▎  | 221/300 [00:13<00:02, 28.88it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  74%|███████▎  | 221/300 [00:13<00:02, 28.88it/s, running_success_rate=30.0%]


Running rollout with at most 300 steps:  74%|███████▍  | 222/300 [00:13<00:02, 28.88it/s, running_success_rate=30.0%]


Running rollout with at most 300 steps:  74%|███████▍  | 223/300 [00:13<00:02, 28.88it/s, running_success_rate=30.0%]


Running rollout with at most 300 steps:  75%|███████▍  | 224/300 [00:14<00:02, 28.88it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  75%|███████▌  | 225/300 [00:14<00:08,  9.37it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  75%|███████▌  | 225/300 [00:14<00:08,  9.37it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  75%|███████▌  | 226/300 [00:14<00:07,  9.37it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  76%|███████▌  | 227/300 [00:14<00:07,  9.37it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  76%|███████▌  | 228/300 [00:14<00:07,  9.37it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  76%|███████▋  | 229/300 [00:14<00:05, 12.03it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  76%|███████▋  | 229/300 [00:14<00:05, 12.03it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  77%|███████▋  | 230/300 [00:14<00:05, 12.03it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  77%|███████▋  | 231/300 [00:14<00:05, 12.03it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  77%|███████▋  | 232/300 [00:14<00:05, 12.03it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  78%|███████▊  | 233/300 [00:14<00:04, 15.04it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  78%|███████▊  | 233/300 [00:14<00:04, 15.04it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  78%|███████▊  | 234/300 [00:14<00:04, 15.04it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  78%|███████▊  | 235/300 [00:14<00:04, 15.04it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  79%|███████▊  | 236/300 [00:14<00:04, 15.04it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  79%|███████▉  | 237/300 [00:14<00:03, 18.06it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  79%|███████▉  | 237/300 [00:14<00:03, 18.06it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  79%|███████▉  | 238/300 [00:14<00:03, 18.06it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  80%|███████▉  | 239/300 [00:14<00:03, 18.06it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  80%|████████  | 240/300 [00:14<00:03, 18.06it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  80%|████████  | 241/300 [00:14<00:02, 21.05it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  80%|████████  | 241/300 [00:14<00:02, 21.05it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  81%|████████  | 242/300 [00:14<00:02, 21.05it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  81%|████████  | 243/300 [00:14<00:02, 21.05it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  81%|████████▏ | 244/300 [00:14<00:02, 21.05it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  82%|████████▏ | 245/300 [00:14<00:02, 23.86it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  82%|████████▏ | 245/300 [00:14<00:02, 23.86it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  82%|████████▏ | 246/300 [00:14<00:02, 23.86it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  82%|████████▏ | 247/300 [00:14<00:02, 23.86it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  83%|████████▎ | 248/300 [00:14<00:02, 23.86it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  83%|████████▎ | 249/300 [00:14<00:01, 26.40it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  83%|████████▎ | 249/300 [00:14<00:01, 26.40it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  83%|████████▎ | 250/300 [00:14<00:01, 26.40it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  84%|████████▎ | 251/300 [00:15<00:01, 26.40it/s, running_success_rate=35.0%]


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Running rollout with at most 300 steps:  84%|████████▍ | 253/300 [00:15<00:01, 28.62it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  84%|████████▍ | 253/300 [00:15<00:01, 28.62it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  85%|████████▍ | 254/300 [00:15<00:01, 28.62it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  85%|████████▌ | 255/300 [00:15<00:01, 28.62it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  85%|████████▌ | 256/300 [00:16<00:01, 28.62it/s, running_success_rate=35.0%]


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Running rollout with at most 300 steps:  87%|████████▋ | 261/300 [00:16<00:03, 12.00it/s, running_success_rate=35.0%]


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Running rollout with at most 300 steps:  88%|████████▊ | 264/300 [00:16<00:03, 12.00it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  88%|████████▊ | 265/300 [00:16<00:02, 14.98it/s, running_success_rate=35.0%]


Running rollout with at most 300 steps:  88%|████████▊ | 265/300 [00:16<00:02, 14.98it/s, running_success_rate=35.0%]


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Running rollout with at most 300 steps:  92%|█████████▏| 275/300 [00:16<00:01, 21.24it/s, running_success_rate=40.0%]


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INFO 2026-10-10 08:48:19 t_train.py:1088 Suite per_task aggregated: [{'task_group': 'pusht', 'task_id': 0, 'metrics': {'sum_rewards': [162.27229902056857, 108.3030659493198, 102.26630304723177, 74.05151299797484, 136.1953679722137, 144.28740353828212, 119.45933019821251, 163.909158727163, 80.45019217229259, 159.37488334881294, 76.32783526829546, 66.28401531366686, 164.77607783065733, 114.91057483547385, 65.62077500749166, 118.74501941954937, 160.10702181713515, 191.6838372927946, 106.83461361418807, 84.6676197373774], 'max_rewards': [0.9611772763335718, 0.9988151988058415, 1.0, 1.0, 0.9924928398635722, 0.9727992399493834, 1.0, 0.9771182605226968, 0.47933249395121563, 1.0, 1.0, 0.3722425117759631, 0.9360152664033182, 0.9510797034792658, 1.0, 1.0, 1.0, 0.9962271758539398, 0.9712743171741306, 1.0], 'successes': [False, False, True, True, False, False, True, False, False, True, True, False, False, False, True, True, True, False, False, True], 'video_paths': ['outputs/train/diffusion_pusht/eval/videos_step_015000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_015000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_015000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_015000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}, 'n_episodes': 20, 'n_success': 9, 'pc_success': 45.0, 'pc_success_ci95': [25.819785825562423, 65.79146575496576]}]
INFO 2026-10-10 08:48:19 t_train.py:1088 Suite per_group aggregated: {'pusht': {'avg_sum_reward': 120.02634535543507, 'avg_max_reward': 0.9304287142056449, 'pc_success': 45.0, 'n_episodes': 20, 'n_success': 9, 'pc_success_ci95': [25.819785825562423, 65.79146575496576], 'video_paths': ['outputs/train/diffusion_pusht/eval/videos_step_015000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_015000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_015000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_015000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}}
INFO 2026-10-10 08:48:19 t_train.py:1088 Suite overall aggregated: {'avg_sum_reward': 120.02634535543507, 'avg_max_reward': 0.9304287142056449, 'pc_success': 45.0, 'n_episodes': 20, 'n_success': 9, 'pc_success_ci95': [25.819785825562423, 65.79146575496576], 'eval_s': 18.719268321990967, 'eval_ep_s': 0.9359634280204773, 'video_paths': ['outputs/train/diffusion_pusht/eval/videos_step_015000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_015000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_015000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_015000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}
WARNING 2026-10-10 08:48:19 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 08:48:19 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 08:48:19 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 08:53:16 t_train.py:1012 Checkpoint policy after step 17500
INFO 2026-10-10 08:53:16 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/017500/pretrained_model!
INFO 2026-10-10 08:53:19 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/017500/pretrained_model_ema!

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INFO 2026-10-10 08:58:18 t_train.py:1012 Checkpoint policy after step 20000
INFO 2026-10-10 08:58:19 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/020000/pretrained_model!
INFO 2026-10-10 08:58:20 n/_torch.py:299 Model weights successfully saved to outputs/train/diffusion_pusht/checkpoints/020000/pretrained_model_ema!
INFO 2026-10-10 08:58:22 t_train.py:1055 Eval policy at step 20000
INFO 2026-10-10 08:58:22 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:  10%|▉         | 29/300 [00:01<00:09, 28.45it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|█         | 30/300 [00:01<00:09, 28.45it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  10%|█         | 31/300 [00:01<00:09, 28.45it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 32/300 [00:02<00:09, 28.45it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 33/300 [00:02<00:29,  9.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█         | 33/300 [00:02<00:29,  9.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  11%|█▏        | 34/300 [00:02<00:29,  9.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 35/300 [00:03<00:29,  9.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 36/300 [00:03<00:29,  9.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 37/300 [00:03<00:22, 11.78it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  12%|█▏        | 37/300 [00:03<00:22, 11.78it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 38/300 [00:03<00:22, 11.78it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 39/300 [00:03<00:22, 11.78it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  13%|█▎        | 40/300 [00:03<00:22, 11.78it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▎        | 41/300 [00:03<00:17, 14.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▎        | 41/300 [00:03<00:17, 14.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▍        | 42/300 [00:03<00:17, 14.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  14%|█▍        | 43/300 [00:03<00:17, 14.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▍        | 44/300 [00:03<00:17, 14.87it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▌        | 45/300 [00:03<00:14, 18.15it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▌        | 45/300 [00:03<00:14, 18.15it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  15%|█▌        | 46/300 [00:03<00:13, 18.15it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▌        | 47/300 [00:03<00:13, 18.15it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▌        | 48/300 [00:03<00:13, 18.15it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▋        | 49/300 [00:03<00:11, 21.08it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  16%|█▋        | 49/300 [00:03<00:11, 21.08it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 50/300 [00:03<00:11, 21.08it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 51/300 [00:03<00:11, 21.08it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  17%|█▋        | 52/300 [00:03<00:11, 21.08it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 53/300 [00:03<00:10, 23.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 53/300 [00:03<00:10, 23.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 54/300 [00:03<00:10, 23.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  18%|█▊        | 55/300 [00:03<00:10, 23.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▊        | 56/300 [00:03<00:10, 23.93it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 57/300 [00:03<00:09, 26.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 57/300 [00:03<00:09, 26.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  19%|█▉        | 58/300 [00:03<00:09, 26.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|█▉        | 59/300 [00:03<00:09, 26.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 60/300 [00:03<00:09, 26.42it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 61/300 [00:03<00:08, 28.68it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  20%|██        | 61/300 [00:03<00:08, 28.68it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  21%|██        | 62/300 [00:03<00:08, 28.68it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  21%|██        | 63/300 [00:03<00:08, 28.68it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  21%|██▏       | 64/300 [00:04<00:08, 28.68it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 65/300 [00:04<00:25,  9.32it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 65/300 [00:04<00:25,  9.32it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 66/300 [00:04<00:25,  9.32it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  22%|██▏       | 67/300 [00:04<00:25,  9.32it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 68/300 [00:04<00:24,  9.32it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 69/300 [00:04<00:19, 11.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 69/300 [00:04<00:19, 11.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  23%|██▎       | 70/300 [00:04<00:19, 11.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▎       | 71/300 [00:05<00:19, 11.97it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  24%|██▍       | 72/300 [00:05<00:19, 11.97it/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, 18.12it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 77/300 [00:05<00:12, 18.12it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▌       | 78/300 [00:05<00:12, 18.12it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  26%|██▋       | 79/300 [00:05<00:12, 18.12it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 80/300 [00:05<00:12, 18.12it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 81/300 [00:05<00:10, 20.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 81/300 [00:05<00:10, 20.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  27%|██▋       | 82/300 [00:05<00:10, 20.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 83/300 [00:05<00:10, 20.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 84/300 [00:05<00:10, 20.96it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:09, 23.64it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  28%|██▊       | 85/300 [00:05<00:09, 23.64it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▊       | 86/300 [00:05<00:09, 23.64it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▉       | 87/300 [00:05<00:09, 23.64it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  29%|██▉       | 88/300 [00:05<00:08, 23.64it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:08, 26.36it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|██▉       | 89/300 [00:05<00:08, 26.36it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|███       | 90/300 [00:05<00:07, 26.36it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  30%|███       | 91/300 [00:05<00:07, 26.36it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 92/300 [00:05<00:07, 26.36it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 28.63it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███       | 93/300 [00:05<00:07, 28.63it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  31%|███▏      | 94/300 [00:05<00:07, 28.63it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 95/300 [00:05<00:07, 28.63it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 96/300 [00:06<00:07, 28.63it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:21,  9.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  32%|███▏      | 97/300 [00:06<00:21,  9.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 98/300 [00:06<00:21,  9.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 99/300 [00:06<00:21,  9.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  33%|███▎      | 100/300 [00:06<00:21,  9.38it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 12.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▎      | 101/300 [00:06<00:16, 12.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▍      | 102/300 [00:06<00:16, 12.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  34%|███▍      | 103/300 [00:06<00:16, 12.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▍      | 104/300 [00:06<00:16, 12.02it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 105/300 [00:06<00:13, 14.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 105/300 [00:06<00:13, 14.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  35%|███▌      | 106/300 [00:07<00:13, 14.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▌      | 107/300 [00:07<00:12, 14.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▌      | 108/300 [00:07<00:12, 14.85it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:07<00:10, 17.81it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  36%|███▋      | 109/300 [00:07<00:10, 17.81it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  37%|███▋      | 110/300 [00:07<00:10, 17.81it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  37%|███▋      | 111/300 [00:07<00:10, 17.81it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  37%|███▋      | 112/300 [00:07<00:10, 17.81it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  38%|███▊      | 113/300 [00:07<00:08, 20.88it/s, running_success_rate=0.0%]


Running rollout with at most 300 steps:  38%|███▊      | 113/300 [00:07<00:08, 20.88it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  38%|███▊      | 114/300 [00:07<00:08, 20.88it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  38%|███▊      | 115/300 [00:07<00:08, 20.88it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  39%|███▊      | 116/300 [00:07<00:08, 20.88it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  39%|███▉      | 117/300 [00:07<00:07, 23.34it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  39%|███▉      | 117/300 [00:07<00:07, 23.34it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  39%|███▉      | 118/300 [00:07<00:07, 23.34it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  40%|███▉      | 119/300 [00:07<00:07, 23.34it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  40%|████      | 120/300 [00:07<00:07, 23.34it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  40%|████      | 121/300 [00:07<00:06, 25.93it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  40%|████      | 121/300 [00:07<00:06, 25.93it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  41%|████      | 122/300 [00:07<00:06, 25.93it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  41%|████      | 123/300 [00:07<00:06, 25.93it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  41%|████▏     | 124/300 [00:07<00:06, 25.93it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 27.66it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  42%|████▏     | 125/300 [00:07<00:06, 27.66it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  42%|████▏     | 126/300 [00:07<00:06, 27.66it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  42%|████▏     | 127/300 [00:07<00:06, 27.66it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 128/300 [00:08<00:06, 27.66it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.30it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 129/300 [00:08<00:18,  9.30it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  43%|████▎     | 130/300 [00:08<00:18,  9.30it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▎     | 131/300 [00:08<00:18,  9.30it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▍     | 132/300 [00:08<00:18,  9.30it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:08<00:13, 11.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  44%|████▍     | 133/300 [00:08<00:13, 11.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  45%|████▍     | 134/300 [00:08<00:13, 11.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  45%|████▌     | 135/300 [00:08<00:13, 11.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  45%|████▌     | 136/300 [00:08<00:13, 11.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:10, 14.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▌     | 137/300 [00:08<00:10, 14.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▌     | 138/300 [00:08<00:10, 14.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  46%|████▋     | 139/300 [00:08<00:10, 14.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  47%|████▋     | 140/300 [00:08<00:10, 14.96it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:08<00:08, 18.09it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  47%|████▋     | 141/300 [00:09<00:08, 18.09it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  47%|████▋     | 142/300 [00:09<00:08, 18.09it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 143/300 [00:09<00:08, 18.09it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 144/300 [00:09<00:08, 18.09it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 21.26it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  48%|████▊     | 145/300 [00:09<00:07, 21.26it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  49%|████▊     | 146/300 [00:09<00:07, 21.26it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  49%|████▉     | 147/300 [00:09<00:07, 21.26it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  49%|████▉     | 148/300 [00:09<00:07, 21.26it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:09<00:06, 23.90it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  50%|████▉     | 149/300 [00:09<00:06, 23.90it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  50%|█████     | 151/300 [00:09<00:06, 23.90it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  51%|█████     | 152/300 [00:09<00:06, 23.90it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 26.48it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  51%|█████     | 153/300 [00:09<00:05, 26.48it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  51%|█████▏    | 154/300 [00:09<00:05, 26.48it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  52%|█████▏    | 156/300 [00:09<00:05, 26.48it/s, running_success_rate=5.0%]


Running rollout with at most 300 steps:  52%|█████▏    | 157/300 [00:09<00:04, 28.68it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  54%|█████▎    | 161/300 [00:10<00:14,  9.38it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  55%|█████▌    | 165/300 [00:10<00:11, 11.93it/s, running_success_rate=5.0%]


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Running rollout with at most 300 steps:  59%|█████▉    | 177/300 [00:11<00:05, 20.92it/s, running_success_rate=15.0%]


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Running rollout with at most 300 steps:  61%|██████    | 182/300 [00:11<00:05, 23.34it/s, running_success_rate=20.0%]


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Running rollout with at most 300 steps:  61%|██████▏   | 184/300 [00:11<00:04, 23.34it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 185/300 [00:11<00:04, 25.81it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 185/300 [00:11<00:04, 25.81it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 186/300 [00:11<00:04, 25.81it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  62%|██████▏   | 187/300 [00:11<00:04, 25.81it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 188/300 [00:11<00:04, 25.81it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:03, 28.03it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 189/300 [00:11<00:03, 28.03it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  63%|██████▎   | 190/300 [00:11<00:03, 28.03it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  64%|██████▎   | 191/300 [00:11<00:03, 28.03it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 192/300 [00:12<00:03, 28.03it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  64%|██████▍   | 193/300 [00:12<00:11,  9.27it/s, running_success_rate=20.0%]


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Running rollout with at most 300 steps:  66%|██████▌   | 197/300 [00:12<00:08, 11.82it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 197/300 [00:12<00:08, 11.82it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  66%|██████▌   | 198/300 [00:12<00:08, 11.82it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  66%|██████▋   | 199/300 [00:12<00:08, 11.82it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 200/300 [00:12<00:08, 11.82it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 14.72it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 201/300 [00:12<00:06, 14.72it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  67%|██████▋   | 202/300 [00:12<00:06, 14.72it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 203/300 [00:12<00:06, 14.72it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 204/300 [00:12<00:06, 14.72it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 205/300 [00:12<00:05, 17.56it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  68%|██████▊   | 205/300 [00:12<00:05, 17.56it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  69%|██████▊   | 206/300 [00:12<00:05, 17.56it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  69%|██████▉   | 207/300 [00:12<00:05, 17.56it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  69%|██████▉   | 208/300 [00:12<00:05, 17.56it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  70%|██████▉   | 209/300 [00:12<00:04, 20.60it/s, running_success_rate=20.0%]


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Running rollout with at most 300 steps:  70%|███████   | 211/300 [00:13<00:04, 20.60it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  71%|███████   | 212/300 [00:13<00:04, 20.60it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  71%|███████   | 213/300 [00:13<00:03, 23.47it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  71%|███████   | 213/300 [00:13<00:03, 23.47it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  71%|███████▏  | 214/300 [00:13<00:03, 23.47it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 215/300 [00:13<00:03, 23.47it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 216/300 [00:13<00:03, 23.47it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 217/300 [00:13<00:03, 26.02it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  72%|███████▏  | 217/300 [00:13<00:03, 26.02it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 218/300 [00:13<00:03, 26.02it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 219/300 [00:13<00:03, 26.02it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  73%|███████▎  | 220/300 [00:13<00:03, 26.02it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  74%|███████▎  | 221/300 [00:13<00:02, 28.02it/s, running_success_rate=20.0%]


Running rollout with at most 300 steps:  74%|███████▎  | 221/300 [00:13<00:02, 28.02it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  74%|███████▍  | 222/300 [00:13<00:02, 28.02it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  74%|███████▍  | 223/300 [00:13<00:02, 28.02it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  75%|███████▍  | 224/300 [00:14<00:02, 28.02it/s, running_success_rate=25.0%]


Running rollout with at most 300 steps:  75%|███████▌  | 225/300 [00:14<00:08,  9.30it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  84%|████████▎ | 251/300 [00:15<00:01, 25.49it/s, running_success_rate=25.0%]


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Running rollout with at most 300 steps:  88%|████████▊ | 265/300 [00:16<00:02, 14.75it/s, running_success_rate=30.0%]


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Running rollout with at most 300 steps:  94%|█████████▎| 281/300 [00:17<00:00, 26.58it/s, running_success_rate=35.0%]


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Running rollout with at most 300 steps:  96%|█████████▋| 289/300 [00:18<00:01,  9.36it/s, running_success_rate=35.0%]


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Running rollout with at most 300 steps:  98%|█████████▊| 293/300 [00:18<00:00, 12.03it/s, running_success_rate=35.0%]


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Stepping through eval batches:   0%|          | 0/1 [00:18<?, ?it/s, running_success_rate=35.0%]

Stepping through eval batches: 100%|██████████| 1/1 [00:18<00:00, 18.69s/it, running_success_rate=35.0%]
Stepping through eval batches: 100%|██████████| 1/1 [00:18<00:00, 18.69s/it, running_success_rate=35.0%]
INFO 2026-10-10 08:58:41 t_train.py:1088 Suite per_task aggregated: [{'task_group': 'pusht', 'task_id': 0, 'metrics': {'sum_rewards': [165.6502249071742, 92.58956838235704, 120.4203780100199, 131.1665155846897, 121.66720807787469, 150.83326151945892, 176.78183050784563, 115.52817636543368, 105.38727807176954, 70.42723797482776, 179.38453032813612, 73.59844460267075, 100.92283341971948, 52.99033506964501, 98.81097642315353, 75.75205178254252, 100.68143827454284, 23.53655916100621, 92.8854576258139, 88.82568294988607], 'max_rewards': [0.9918442728536196, 0.617198123599303, 1.0, 0.8657228539875134, 0.96401689581909, 0.948376504649175, 0.9734302263668353, 0.8976039367570877, 0.6848116163864351, 1.0, 0.9957424887584491, 0.995859429880152, 1.0, 1.0, 0.5556484878604863, 1.0, 0.6952157849535031, 1.0, 1.0, 0.936084473257275], 'successes': [False, False, True, False, False, False, False, False, False, True, False, False, True, True, False, True, False, True, True, False], 'video_paths': ['outputs/train/diffusion_pusht/eval/videos_step_020000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_020000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_020000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_020000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}, 'n_episodes': 20, 'n_success': 7, 'pc_success': 35.0, 'pc_success_ci95': [18.11918241010821, 56.71457233147636]}]
INFO 2026-10-10 08:58:41 t_train.py:1088 Suite per_group aggregated: {'pusht': {'avg_sum_reward': 106.89199945192838, 'avg_max_reward': 0.9060777547564461, 'pc_success': 35.0, 'n_episodes': 20, 'n_success': 7, 'pc_success_ci95': [18.11918241010821, 56.71457233147636], 'video_paths': ['outputs/train/diffusion_pusht/eval/videos_step_020000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_020000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_020000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_020000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}}
INFO 2026-10-10 08:58:41 t_train.py:1088 Suite overall aggregated: {'avg_sum_reward': 106.89199945192838, 'avg_max_reward': 0.9060777547564461, 'pc_success': 35.0, 'n_episodes': 20, 'n_success': 7, 'pc_success_ci95': [18.11918241010821, 56.71457233147636], 'eval_s': 18.98491334915161, 'eval_ep_s': 0.9492456674575805, 'video_paths': ['outputs/train/diffusion_pusht/eval/videos_step_020000/pusht_0/eval_episode_0.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_020000/pusht_0/eval_episode_1.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_020000/pusht_0/eval_episode_2.mp4', 'outputs/train/diffusion_pusht/eval/videos_step_020000/pusht_0/eval_episode_3.mp4'], 'predicted_video_paths': []}
WARNING 2026-10-10 08:58:41 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 08:58:41 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 08:58:41 db_utils.py:193 WandB logging of key "overall" was ignored as its type "<class 'dict'>" is not handled by this wrapper.

Training: 100%|██████████| 20000/20000 [41:56<00:00,  7.95step/s]
INFO 2026-10-10 08:58:41 t_train.py:1116 End of training
INFO 2026-10-10 08:58:41 n/_torch.py:299 Model weights successfully saved to /tmp/tmpikd_h143/NLTuan/diffusion_pusht!
INFO 2026-10-10 09:05:03 in_utils.py:690 Model pushed to https://huggingface.co/NLTuan/diffusion_pusht
/home/bibi/PythonProjects/lerobot/src/lerobot/scripts/lerobot_train.py:1141: FutureWarning: PreTrainedPolicy.push_model_to_hub is deprecated and will be removed in a future version. Use lerobot.common.train_utils.publish_trained_model(cfg, model, preprocessor, postprocessor, dataset_meta) instead.
  unwrapped.push_model_to_hub(cfg, dataset_meta=dataset.meta)
INFO 2026-10-10 09:05:04 n/_torch.py:299 Model weights successfully saved to /tmp/tmpc76fci7k/NLTuan/diffusion_pusht-ema!
INFO 2026-10-10 09:10:16 in_utils.py:690 Model pushed to https://huggingface.co/NLTuan/diffusion_pusht-ema
INFO 2026-10-10 09:10:20 t_train.py:1144 Pushed EMA weights to NLTuan/diffusion_pusht-ema