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new file mode 100644 index 0000000000000000000000000000000000000000..2d6a5a0bcf3880e207988e5ccb5c6c24c1b834de --- /dev/null +++ b/exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/checkpoint_90/train_param.pth.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:141a151130f428d6265a344206f637074d6934e341407fd34efc78fd06cd7524 +size 90243171 diff --git a/exp/lewm_libero_all_bc_all_2026_0923_1432_49/dump_cfg.yaml b/exp/lewm_libero_all_bc_all_2026_0923_1432_49/dump_cfg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2c94a3c21f5f82543e05d3a5bc7bb5f34c461504 --- /dev/null +++ b/exp/lewm_libero_all_bc_all_2026_0923_1432_49/dump_cfg.yaml @@ -0,0 +1,117 @@ +TRAIN: + MANUAL_SEED: 3072 + CONV_REPEATABLE: true + BATCH_SIZE: 512 + EPOCH: 200 + OPTIMIZER: AdamW + LR: 0.0003 + SCHEDULER: LinearWarmupCosineAnnealingLR + LR_DECAY_GAMMA: 0.1 + LOG_INTERVAL: 20 + FIND_UNUSED_PARAMETERS: false + GRAD_CLIP_ENABLED: true + GRAD_CLIP: + TYPE: 2 + NORM: 1.0 + VAL_LOG_INTERVAL: 20 + WEIGHT_DECAY: 0.001 + WARMUP_EPOCHS: 5 + ETA_MIN: 3.0e-05 +DATASET: + TRAIN: + TYPE: LiberoLeWMGGFieldDataset + TIMING_CONTRACT: post_action_v1 + DATA_ROOT: assets/latent_extract/libero/libero_full_consolidated.h5 + HISTORY_SIZE: 3 + NUM_STEPS: 4 + FRAMESKIP: 4 + GAP_SET: + - 1 + - 2 + - 4 + - 8 + - 16 + - 30 + ANCHOR_STRIDE: 2 + EXPERT_CHUNK_REDUCE: mean + EXPERT_GRIP_REDUCE: first + USE_WRONG_LANG: true + CROSS_EP_MIN_LANG_DIST: 0.3 + EMIT_NEXT_FRAME: true + SPLIT_MODE: ratio + SPLIT: all + TRAIN_RATIO: 0.9 + STRATIFY: true + FILTER_SUCCESS: false + SEED: 3072 + CAMERAS: + - pixels + - pixels_wrist + IN_MEMORY: true + SHM_CACHE: true + ACTION_SOURCE: osc + NORMALIZE_ACTIONS: true + TRANSFORM: + TYPE: IdentityTransform + TEST: + TYPE: LiberoLeWMGGFieldDataset + TIMING_CONTRACT: post_action_v1 + DATA_ROOT: assets/latent_extract/libero/libero_full_consolidated.h5 + HISTORY_SIZE: 3 + NUM_STEPS: 4 + FRAMESKIP: 4 + GAP_SET: + - 1 + - 2 + - 4 + - 8 + - 16 + - 30 + ANCHOR_STRIDE: 8 + EXPERT_CHUNK_REDUCE: mean + EXPERT_GRIP_REDUCE: first + USE_WRONG_LANG: true + CROSS_EP_MIN_LANG_DIST: 0.3 + EMIT_NEXT_FRAME: true + SPLIT_MODE: ratio + SPLIT: val + TRAIN_RATIO: 0.9 + STRATIFY: true + FILTER_SUCCESS: false + SEED: 3072 + CAMERAS: + - pixels + - pixels_wrist + IN_MEMORY: true + SHM_CACHE: true + ACTION_SOURCE: osc + NORMALIZE_ACTIONS: true + TRANSFORM: + TYPE: IdentityTransform +DATA_PRESET: + IMAGE_SIZE: 128 + PATCH_SIZE: 16 +MODEL: + TYPE: LeWMBCModel + LEWM_CONFIG: config/lewm_libero_all.yaml + LEWM_CKPT: exp/lewm_libero_all_2026_0921_2142_10/checkpoints/checkpoint_100 + WORLD_MODEL_TRAIN: + ENABLED: false + LANG_DIM: 384 + HIDDEN_DIM: 1024 + NUM_LAYERS: 4 + FILM_HIDDEN: 256 + DROPOUT: 0.0 + ACT_SUPERVISION: + CTX_ACTION_BASE: median + CTX_IMAGE_BASE: history + GRIPPER_HEAD: + ENABLED: true + HIDDEN_DIM: 256 + DETACH_STATE: true + LOSS: + LAMBDA_VEC: 1.0 + LAMBDA_DIR: 1.0 + LAMBDA_GRIP: 1.0 + GRIP_SWITCH_WEIGHT: 1.0 + LAMBDA_WM: 1.0 diff --git a/exp/lewm_libero_all_bc_all_2026_0923_1432_49/evaluations/LeWMBCModel-train_Loss.txt b/exp/lewm_libero_all_bc_all_2026_0923_1432_49/evaluations/LeWMBCModel-train_Loss.txt new file mode 100644 index 0000000000000000000000000000000000000000..01a91d6de48664e29efb348dd75f6a33ae1314e7 --- /dev/null +++ b/exp/lewm_libero_all_bc_all_2026_0923_1432_49/evaluations/LeWMBCModel-train_Loss.txt @@ -0,0 +1,1200 @@ +Epoch 0 | LeWMBCModel-train loss metric: + {'l_dir': 0.35125786077651533, + 'l_grip': 0.19917380390145203, + 'l_vec': 0.5170800640077442, + 'loss': 1.0675117298090968} + +Epoch 1 | LeWMBCModel-train loss metric: + {'l_dir': 0.27881877770799607, + 'l_grip': 0.1071585589940098, + 'l_vec': 0.4112860426480668, + 'loss': 0.797263377661371} + +Epoch 2 | LeWMBCModel-train loss metric: + {'l_dir': 0.2440522827845835, + 'l_grip': 0.0994298018167223, + 'l_vec': 0.35885393004936933, + 'loss': 0.7023360135490329} + +Epoch 3 | LeWMBCModel-train loss metric: + {'l_dir': 0.2181011673773309, + 'l_grip': 0.09471808045247301, + 'l_vec': 0.32096908073364994, + 'loss': 0.6337883289801935} + +Epoch 4 | LeWMBCModel-train loss metric: + {'l_dir': 0.1979182237896938, + 'l_grip': 0.09037246795711815, + 'l_vec': 0.29239330318999196, + 'loss': 0.5806839952557004} + +Epoch 5 | LeWMBCModel-train loss metric: + {'l_dir': 0.17474533307297221, + 'l_grip': 0.08434022532536825, + 'l_vec': 0.2590709541732235, + 'loss': 0.5181565122381723} + +Epoch 6 | LeWMBCModel-train loss metric: + {'l_dir': 0.15585275549543043, + 'l_grip': 0.07874607779665448, + 'l_vec': 0.23138757068881266, + 'loss': 0.4659864040026405} + +Epoch 7 | LeWMBCModel-train loss metric: + {'l_dir': 0.13928493613862805, + 'l_grip': 0.07345891263741812, + 'l_vec': 0.2075978756994589, + 'loss': 0.42034172426169947} + +Epoch 8 | LeWMBCModel-train loss metric: + {'l_dir': 0.12546786709402322, + 'l_grip': 0.06875221206940682, + 'l_vec': 0.1870935317636232, + 'loss': 0.3813136109814106} + +Epoch 9 | LeWMBCModel-train loss metric: + {'l_dir': 0.11427680094244415, + 'l_grip': 0.06434790316809708, + 'l_vec': 0.17064632355065198, + 'loss': 0.3492710273495444} + +Epoch 10 | LeWMBCModel-train loss metric: + {'l_dir': 0.103812117832586, + 'l_grip': 0.06081661410223881, + 'l_vec': 0.1555212018830187, + 'loss': 0.3201499337816053} + +Epoch 11 | LeWMBCModel-train loss metric: + {'l_dir': 0.09568225722107673, + 'l_grip': 0.05771998194107923, + 'l_vec': 0.14365120412571653, + 'loss': 0.2970534435940856} + +Epoch 12 | LeWMBCModel-train loss metric: + {'l_dir': 0.08898871805127492, + 'l_grip': 0.05439024403010013, + 'l_vec': 0.13380711089370315, + 'loss': 0.2771860728989779} + +Epoch 13 | LeWMBCModel-train loss metric: + {'l_dir': 0.0825623321828907, + 'l_grip': 0.051872219598638296, + 'l_vec': 0.12413616715441186, + 'loss': 0.2585707190319722} + +Epoch 14 | LeWMBCModel-train loss metric: + {'l_dir': 0.0770797689811323, + 'l_grip': 0.049618728344730946, + 'l_vec': 0.11627409066497583, + 'loss': 0.24297258810136568} + +Epoch 15 | LeWMBCModel-train loss metric: + {'l_dir': 0.07277881075059162, + 'l_grip': 0.0471983065172769, + 'l_vec': 0.10999916105418818, + 'loss': 0.22997627798685305} + +Epoch 16 | LeWMBCModel-train loss metric: + {'l_dir': 0.06827105499862002, + 'l_grip': 0.04474306182667671, + 'l_vec': 0.10314964898046584, + 'loss': 0.21616376597245843} + +Epoch 17 | LeWMBCModel-train loss metric: + {'l_dir': 0.06435980541624332, + 'l_grip': 0.04398246978478441, + 'l_vec': 0.097403048918173, + 'loss': 0.20574532420254868} + +Epoch 18 | LeWMBCModel-train loss metric: + {'l_dir': 0.06101096144982465, + 'l_grip': 0.041485845948413654, + 'l_vec': 0.09279870848508429, + 'loss': 0.19529551593767994} + +Epoch 19 | LeWMBCModel-train loss metric: + {'l_dir': 0.05851042175353849, + 'l_grip': 0.04005546416590853, + 'l_vec': 0.08872454686648419, + 'loss': 0.18729043251867425} + +Epoch 20 | LeWMBCModel-train loss metric: + {'l_dir': 0.05543270673791258, + 'l_grip': 0.038604172488406356, + 'l_vec': 0.08441166792804165, + 'loss': 0.17844854730112544} + +Epoch 21 | LeWMBCModel-train loss metric: + {'l_dir': 0.05295890891482394, + 'l_grip': 0.036972473457941225, + 'l_vec': 0.08053317184447663, + 'loss': 0.17046455398259924} + +Epoch 22 | LeWMBCModel-train loss metric: + {'l_dir': 0.050479184274456614, + 'l_grip': 0.03598590897747718, + 'l_vec': 0.0768742649870334, + 'loss': 0.16333935786661935} + +Epoch 23 | LeWMBCModel-train loss metric: + {'l_dir': 0.04863916117886393, + 'l_grip': 0.03420271053602231, + 'l_vec': 0.07415186108274799, + 'loss': 0.15699373296523605} + +Epoch 24 | LeWMBCModel-train loss metric: + {'l_dir': 0.04688959685426046, + 'l_grip': 0.03317562664011022, + 'l_vec': 0.07162460319494923, + 'loss': 0.15168982657969926} + +Epoch 25 | LeWMBCModel-train loss metric: + {'l_dir': 0.04495566019223068, + 'l_grip': 0.03247562048192125, + 'l_vec': 0.06842714096944967, + 'loss': 0.1458584215231095} + +Epoch 26 | LeWMBCModel-train loss metric: + {'l_dir': 0.04341886336425979, + 'l_grip': 0.031128004323763607, + 'l_vec': 0.06627947256215468, + 'loss': 0.14082634032990218} + +Epoch 27 | LeWMBCModel-train loss metric: + {'l_dir': 0.04172947551105679, + 'l_grip': 0.0307509113027957, + 'l_vec': 0.06355853555252927, + 'loss': 0.13603892245471247} + +Epoch 28 | LeWMBCModel-train loss metric: + {'l_dir': 0.03998957670942413, + 'l_grip': 0.030153739475373337, + 'l_vec': 0.06085116955440796, + 'loss': 0.13099448573467565} + +Epoch 29 | LeWMBCModel-train loss metric: + {'l_dir': 0.03882610996648785, + 'l_grip': 0.028550753966952287, + 'l_vec': 0.05918421357116347, + 'loss': 0.12656107767401734} + +Epoch 30 | LeWMBCModel-train loss metric: + {'l_dir': 0.03789486788061053, + 'l_grip': 0.027225815866809295, + 'l_vec': 0.057728907013681614, + 'loss': 0.12284959093866878} + +Epoch 31 | LeWMBCModel-train loss metric: + {'l_dir': 0.03646193133080052, + 'l_grip': 0.027365075053777617, + 'l_vec': 0.055680380159343956, + 'loss': 0.1195073864904707} + +Epoch 32 | LeWMBCModel-train loss metric: + {'l_dir': 0.03515515478458328, + 'l_grip': 0.026684984572934792, + 'l_vec': 0.05362899725394258, + 'loss': 0.11546913677181483} + +Epoch 33 | LeWMBCModel-train loss metric: + {'l_dir': 0.034224370965581924, + 'l_grip': 0.026320502413835392, + 'l_vec': 0.05219282741850452, + 'loss': 0.112737700589552} + +Epoch 34 | LeWMBCModel-train loss metric: + {'l_dir': 0.03281252020208984, + 'l_grip': 0.024903507809904822, + 'l_vec': 0.05017590013256565, + 'loss': 0.10789192832484551} + +Epoch 35 | LeWMBCModel-train loss metric: + {'l_dir': 0.032108249454414796, + 'l_grip': 0.024883374683232796, + 'l_vec': 0.04912754740739959, + 'loss': 0.10611917134301904} + +Epoch 36 | LeWMBCModel-train loss metric: + {'l_dir': 0.0313236651550761, + 'l_grip': 0.02351049878743227, + 'l_vec': 0.04810328430093912, + 'loss': 0.10293744824797726} + +Epoch 37 | LeWMBCModel-train loss metric: + {'l_dir': 0.030256429243224026, + 'l_grip': 0.02437855569819706, + 'l_vec': 0.04600957752448227, + 'loss': 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metric: + {'l_dir': 0.022532594093059983, + 'l_grip': 0.01848643637785021, + 'l_vec': 0.03428233660221216, + 'loss': 0.07530136703575167} + +Epoch 50 | LeWMBCModel-train loss metric: + {'l_dir': 0.021847564096522703, + 'l_grip': 0.01861602693509876, + 'l_vec': 0.03272940151407909, + 'loss': 0.07319299249768489} + +Epoch 51 | LeWMBCModel-train loss metric: + {'l_dir': 0.0217574589952812, + 'l_grip': 0.017259366924925218, + 'l_vec': 0.03293459299690876, + 'loss': 0.07195141877805096} + +Epoch 52 | LeWMBCModel-train loss metric: + {'l_dir': 0.021017808620256265, + 'l_grip': 0.017408062931302398, + 'l_vec': 0.03177848438902646, + 'loss': 0.07020435600400203} + +Epoch 53 | LeWMBCModel-train loss metric: + {'l_dir': 0.0205023250749139, + 'l_grip': 0.017205785990761526, + 'l_vec': 0.030978728868502125, + 'loss': 0.06868683997585152} + +Epoch 54 | LeWMBCModel-train loss metric: + {'l_dir': 0.019957672022754173, + 'l_grip': 0.017079523263104145, + 'l_vec': 0.03029923085195777, + 'loss': 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0.015214102292444253, + 'l_vec': 0.02626843493547769, + 'loss': 0.05898488985903648} + +Epoch 61 | LeWMBCModel-train loss metric: + {'l_dir': 0.017506212786977914, + 'l_grip': 0.014831922835115967, + 'l_vec': 0.026165849916049883, + 'loss': 0.05850398554629737} + +Epoch 62 | LeWMBCModel-train loss metric: + {'l_dir': 0.017112030900456737, + 'l_grip': 0.014415846692746077, + 'l_vec': 0.025772771860585197, + 'loss': 0.057300649474624994} + +Epoch 63 | LeWMBCModel-train loss metric: + {'l_dir': 0.01647468079932411, + 'l_grip': 0.0141431933826294, + 'l_vec': 0.02465359878577727, + 'loss': 0.0552714729703354} + +Epoch 64 | LeWMBCModel-train loss metric: + {'l_dir': 0.016167191372720473, + 'l_grip': 0.014115269094522579, + 'l_vec': 0.024134410009810026, + 'loss': 0.05441687052801309} + +Epoch 65 | LeWMBCModel-train loss metric: + {'l_dir': 0.01603043747246845, + 'l_grip': 0.013202842953705485, + 'l_vec': 0.024172821835024057, + 'loss': 0.053406102243984836} + +Epoch 66 | LeWMBCModel-train loss metric: + {'l_dir': 0.015505462908457805, + 'l_grip': 0.014738170788256481, + 'l_vec': 0.023473094613381918, + 'loss': 0.05371672829163735} + +Epoch 67 | LeWMBCModel-train loss metric: + {'l_dir': 0.015024405262697531, + 'l_grip': 0.012951624714488576, + 'l_vec': 0.02256332533723939, + 'loss': 0.05053935526663633} + +Epoch 68 | LeWMBCModel-train loss metric: + {'l_dir': 0.014993142878368554, + 'l_grip': 0.012364256826835477, + 'l_vec': 0.022552037429506618, + 'loss': 0.0499094371531695} + +Epoch 69 | LeWMBCModel-train loss metric: + {'l_dir': 0.014827129524382346, + 'l_grip': 0.013105427658326691, + 'l_vec': 0.02206326165990288, + 'loss': 0.04999581890014011} + +Epoch 70 | LeWMBCModel-train loss metric: + {'l_dir': 0.014288948127702749, + 'l_grip': 0.013162361614787517, + 'l_vec': 0.021552002711533225, + 'loss': 0.04900331246931149} + +Epoch 71 | LeWMBCModel-train loss metric: + {'l_dir': 0.014054608906814937, + 'l_grip': 0.012155748018292811, + 'l_vec': 0.021030560770916393, + 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0.01192146659512091, + 'l_vec': 0.018397052715267943, + 'loss': 0.04268417574269588} + +Epoch 78 | LeWMBCModel-train loss metric: + {'l_dir': 0.012081233269067532, + 'l_grip': 0.010950762505601395, + 'l_vec': 0.018121131102405923, + 'loss': 0.041153126945248024} + +Epoch 79 | LeWMBCModel-train loss metric: + {'l_dir': 0.01209882470817171, + 'l_grip': 0.009808078034308011, + 'l_vec': 0.018088036452343956, + 'loss': 0.039994939201391855} + +Epoch 80 | LeWMBCModel-train loss metric: + {'l_dir': 0.011626762060760177, + 'l_grip': 0.010968056799013146, + 'l_vec': 0.01720602340101181, + 'loss': 0.039800842276299625} + +Epoch 81 | LeWMBCModel-train loss metric: + {'l_dir': 0.011302354693927364, + 'l_grip': 0.010720052754599668, + 'l_vec': 0.01677281613342087, + 'loss': 0.03879522356106845} + +Epoch 82 | LeWMBCModel-train loss metric: + {'l_dir': 0.011330265021368368, + 'l_grip': 0.009648482081618935, + 'l_vec': 0.016952558180520216, + 'loss': 0.03793130531646166} + +Epoch 83 | LeWMBCModel-train loss metric: + {'l_dir': 0.010945264015397499, + 'l_grip': 0.01037351054659001, + 'l_vec': 0.016300688027078104, + 'loss': 0.037619462571965696} + +Epoch 84 | LeWMBCModel-train loss metric: + {'l_dir': 0.010593980491878863, + 'l_grip': 0.010209954500240039, + 'l_vec': 0.015883967101461605, + 'loss': 0.0366879021060374} + +Epoch 85 | LeWMBCModel-train loss metric: + {'l_dir': 0.010365414755701555, + 'l_grip': 0.009474650933871549, + 'l_vec': 0.015589545612270555, + 'loss': 0.03542961132738029} + +Epoch 86 | LeWMBCModel-train loss metric: + {'l_dir': 0.010436530773988146, + 'l_grip': 0.009462119600144921, + 'l_vec': 0.01543254524030893, + 'loss': 0.0353311956389028} + +Epoch 87 | LeWMBCModel-train loss metric: + {'l_dir': 0.010137901064787597, + 'l_grip': 0.010398049494917487, + 'l_vec': 0.015005854736643948, + 'loss': 0.035541805293744407} + +Epoch 88 | LeWMBCModel-train loss metric: + {'l_dir': 0.009738694851518634, + 'l_grip': 0.008725058307596265, + 'l_vec': 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111 | LeWMBCModel-train loss metric: + {'l_dir': 0.006082174369788109, + 'l_grip': 0.00658687876627698, + 'l_vec': 0.008580559046562138, + 'loss': 0.021249612201284254} + +Epoch 112 | LeWMBCModel-train loss metric: + {'l_dir': 0.0061027111831222615, + 'l_grip': 0.0054113781831310135, + 'l_vec': 0.00867718855799665, + 'loss': 0.02019127792812855} + +Epoch 113 | LeWMBCModel-train loss metric: + {'l_dir': 0.00586909164922812, + 'l_grip': 0.005739898247606255, + 'l_vec': 0.008305511754667495, + 'loss': 0.01991450163383573} + +Epoch 114 | LeWMBCModel-train loss metric: + {'l_dir': 0.00564116253499449, + 'l_grip': 0.005900480964138166, + 'l_vec': 0.008046210461055157, + 'loss': 0.01958785397054968} + +Epoch 115 | LeWMBCModel-train loss metric: + {'l_dir': 0.00553683168186846, + 'l_grip': 0.005771301940686191, + 'l_vec': 0.007765714063060901, + 'loss': 0.019073847667241635} + +Epoch 116 | LeWMBCModel-train loss metric: + {'l_dir': 0.0054205566596426434, + 'l_grip': 0.005405061528678251, + 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metric: + {'l_dir': 0.004806479509237697, + 'l_grip': 0.004574417902340393, + 'l_vec': 0.0068414538384393465, + 'loss': 0.01622235126782513} + +Epoch 123 | LeWMBCModel-train loss metric: + {'l_dir': 0.0044758571302771916, + 'l_grip': 0.005036808491258357, + 'l_vec': 0.006321715915544821, + 'loss': 0.01583438156832169} + +Epoch 124 | LeWMBCModel-train loss metric: + {'l_dir': 0.004480221123386588, + 'l_grip': 0.00459961648615406, + 'l_vec': 0.006338650196045999, + 'loss': 0.0154184878365307} + +Epoch 125 | LeWMBCModel-train loss metric: + {'l_dir': 0.004333980604127441, + 'l_grip': 0.004689239509346687, + 'l_vec': 0.006050275335204335, + 'loss': 0.015073495452266897} + +Epoch 126 | LeWMBCModel-train loss metric: + {'l_dir': 0.004386645635197678, + 'l_grip': 0.0045159521690282855, + 'l_vec': 0.006079281790925784, + 'loss': 0.014981879586814123} + +Epoch 127 | LeWMBCModel-train loss metric: + {'l_dir': 0.004478736230328947, + 'l_grip': 0.004575815618582657, + 'l_vec': 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{'l_dir': 0.003617021207179483, + 'l_grip': 0.00395779653664472, + 'l_vec': 0.004874269747205173, + 'loss': 0.012449087481311584} + +Epoch 134 | LeWMBCModel-train loss metric: + {'l_dir': 0.0034896998495454194, + 'l_grip': 0.0038993321130757607, + 'l_vec': 0.00473696058844796, + 'loss': 0.01212599256518931} + +Epoch 135 | LeWMBCModel-train loss metric: + {'l_dir': 0.0035401271745165745, + 'l_grip': 0.003774856833142232, + 'l_vec': 0.004887969796486916, + 'loss': 0.012202953805617901} + +Epoch 136 | LeWMBCModel-train loss metric: + {'l_dir': 0.003338734533253637, + 'l_grip': 0.003847335824240929, + 'l_vec': 0.0045330429450583425, + 'loss': 0.011719113290318965} + +Epoch 137 | LeWMBCModel-train loss metric: + {'l_dir': 0.0032692425906955327, + 'l_grip': 0.003789706726700119, + 'l_vec': 0.004520407191600926, + 'loss': 0.011579356509385855} + +Epoch 138 | LeWMBCModel-train loss metric: + {'l_dir': 0.0031574720242522757, + 'l_grip': 0.003503568185491255, + 'l_vec': 0.004371124723222259, + 'loss': 0.011032164942089048} + +Epoch 139 | LeWMBCModel-train loss metric: + {'l_dir': 0.003086948148310112, + 'l_grip': 0.003664834825526438, + 'l_vec': 0.004189803968170107, + 'loss': 0.010941586928063431} + +Epoch 140 | LeWMBCModel-train loss metric: + {'l_dir': 0.0029760941990799768, + 'l_grip': 0.003399920945532627, + 'l_vec': 0.00414216388306845, + 'loss': 0.01051817901825699} + +Epoch 141 | LeWMBCModel-train loss metric: + {'l_dir': 0.002907973159954372, + 'l_grip': 0.003345583348372722, + 'l_vec': 0.003906078197031213, + 'loss': 0.010159634702144996} + +Epoch 142 | LeWMBCModel-train loss metric: + {'l_dir': 0.002898616031929307, + 'l_grip': 0.0033641358787084444, + 'l_vec': 0.003885858769008549, + 'loss': 0.010148610670123149} + +Epoch 143 | LeWMBCModel-train loss metric: + {'l_dir': 0.0029103912703932087, + 'l_grip': 0.003341039565090835, + 'l_vec': 0.003954363260726202, + 'loss': 0.010205794091935266} + +Epoch 144 | LeWMBCModel-train loss metric: + {'l_dir': 0.00271914822048533, + 'l_grip': 0.0032202155544494024, + 'l_vec': 0.0036889325873450656, + 'loss': 0.009628296374064302} + +Epoch 145 | LeWMBCModel-train loss metric: + {'l_dir': 0.002663313435976745, + 'l_grip': 0.0031203876318302345, + 'l_vec': 0.0035252226908430314, + 'loss': 0.009308923772855115} + +Epoch 146 | LeWMBCModel-train loss metric: + {'l_dir': 0.002645365162507961, + 'l_grip': 0.003138305890119482, + 'l_vec': 0.003408814058763678, + 'loss': 0.00919248510862371} + +Epoch 147 | LeWMBCModel-train loss metric: + {'l_dir': 0.002559819616602031, + 'l_grip': 0.0029847512413713182, + 'l_vec': 0.0033896486721647513, + 'loss': 0.008934219548766817} + +Epoch 148 | LeWMBCModel-train loss metric: + {'l_dir': 0.0024624219565590705, + 'l_grip': 0.0029774188267992054, + 'l_vec': 0.003200390157532146, + 'loss': 0.008640230949044024} + +Epoch 149 | LeWMBCModel-train loss metric: + {'l_dir': 0.0024258423819032713, + 'l_grip': 0.0028837143060631105, + 'l_vec': 0.0032121915803839008, + 'loss': 0.008521748261987358} + +Epoch 150 | LeWMBCModel-train loss metric: + {'l_dir': 0.0024206906929430966, + 'l_grip': 0.00281955194184329, + 'l_vec': 0.0030334629176197218, + 'loss': 0.008273705537521537} + +Epoch 151 | LeWMBCModel-train loss metric: + {'l_dir': 0.0022786951384684687, + 'l_grip': 0.002882878206352237, + 'l_vec': 0.0029014094499078425, + 'loss': 0.008062982774549797} + +Epoch 152 | LeWMBCModel-train loss metric: + {'l_dir': 0.0022266268738543667, + 'l_grip': 0.002768573148992227, + 'l_vec': 0.0028890124007453417, + 'loss': 0.0078842124172644} + +Epoch 153 | LeWMBCModel-train loss metric: + {'l_dir': 0.0022152753578315956, + 'l_grip': 0.0027433580322741655, + 'l_vec': 0.0028249283666823945, + 'loss': 0.007783561757541939} + +Epoch 154 | LeWMBCModel-train loss metric: + {'l_dir': 0.0020953554192155686, + 'l_grip': 0.0026659756864029016, + 'l_vec': 0.002635462745794925, + 'loss': 0.007396793842509549} + +Epoch 155 | LeWMBCModel-train loss metric: + {'l_dir': 0.0020278825285094376, + 'l_grip': 0.0025570207734168216, + 'l_vec': 0.0026141073162815123, + 'loss': 0.007199010618890777} + +Epoch 156 | LeWMBCModel-train loss metric: + {'l_dir': 0.0019753125905247718, + 'l_grip': 0.0025293999221789975, + 'l_vec': 0.0024579925970391802, + 'loss': 0.006962705110659522} + +Epoch 157 | LeWMBCModel-train loss metric: + {'l_dir': 0.0019000388059270449, + 'l_grip': 0.0024895525491758328, + 'l_vec': 0.002442669194868443, + 'loss': 0.006832260562261885} + +Epoch 158 | LeWMBCModel-train loss metric: + {'l_dir': 0.0019416442244668793, + 'l_grip': 0.0024332429491883668, + 'l_vec': 0.002446769329196962, + 'loss': 0.0068216564968148615} + +Epoch 159 | LeWMBCModel-train loss metric: + {'l_dir': 0.0018668428872184691, + 'l_grip': 0.0024708136558838872, + 'l_vec': 0.002341721920230415, + 'loss': 0.006679378455805553} + +Epoch 160 | LeWMBCModel-train loss metric: + {'l_dir': 0.0018140459214636136, + 'l_grip': 0.0023612603568828688, + 'l_vec': 0.00225815466110928, + 'loss': 0.006433460937431517} + +Epoch 161 | LeWMBCModel-train loss metric: + {'l_dir': 0.0018352523347786864, + 'l_grip': 0.002332265122333644, + 'l_vec': 0.002390465161451483, + 'loss': 0.006557982607646338} + +Epoch 162 | LeWMBCModel-train loss metric: + {'l_dir': 0.0017182631727266362, + 'l_grip': 0.0022586580408157646, + 'l_vec': 0.0020927323616693676, + 'loss': 0.006069653570345795} + +Epoch 163 | LeWMBCModel-train loss metric: + {'l_dir': 0.0016647038357567897, + 'l_grip': 0.0022733646579397525, + 'l_vec': 0.002043467825235607, + 'loss': 0.005981536306701746} + +Epoch 164 | LeWMBCModel-train loss metric: + {'l_dir': 0.0016449696349491029, + 'l_grip': 0.0022023975285363987, + 'l_vec': 0.0021307162562775217, + 'loss': 0.005978083418347467} + +Epoch 165 | LeWMBCModel-train loss metric: + {'l_dir': 0.0016197698797345713, + 'l_grip': 0.0021959845695865106, + 'l_vec': 0.002023208553587759, + 'loss': 0.005838963003935119} + +Epoch 166 | LeWMBCModel-train loss metric: + {'l_dir': 0.0015568936629590474, + 'l_grip': 0.00215790268684021, + 'l_vec': 0.0018935672848964208, + 'loss': 0.005608363643719847} + +Epoch 167 | LeWMBCModel-train loss metric: + {'l_dir': 0.0015149997956760894, + 'l_grip': 0.0021235569892081706, + 'l_vec': 0.0018304113956548343, + 'loss': 0.005468968175404165} + +Epoch 168 | LeWMBCModel-train loss metric: + {'l_dir': 0.0015057127205709336, + 'l_grip': 0.0020367720577509855, + 'l_vec': 0.0019197199938244436, + 'loss': 0.005462204770727268} + +Epoch 169 | LeWMBCModel-train loss metric: + {'l_dir': 0.0014717547950680921, + 'l_grip': 0.0020376698064560853, + 'l_vec': 0.0018669934008202103, + 'loss': 0.005376417993306063} + +Epoch 170 | LeWMBCModel-train loss metric: + {'l_dir': 0.001381489058688341, + 'l_grip': 0.002000842932676041, + 'l_vec': 0.0016847692097307107, + 'loss': 0.005067101200491712} + +Epoch 171 | LeWMBCModel-train loss metric: + {'l_dir': 0.001374259632663323, + 'l_grip': 0.00196260885685933, + 'l_vec': 0.001671365460346712, + 'loss': 0.005008233943048154} + +Epoch 172 | LeWMBCModel-train loss metric: + {'l_dir': 0.0013258390079690905, + 'l_grip': 0.0019486721980807658, + 'l_vec': 0.0016506260651293308, + 'loss': 0.0049251372740669215} + +Epoch 173 | LeWMBCModel-train loss metric: + {'l_dir': 0.0012750341777793034, + 'l_grip': 0.0019674886199037857, + 'l_vec': 0.0015411071777096878, + 'loss': 0.004783629975983771} + +Epoch 174 | LeWMBCModel-train loss metric: + {'l_dir': 0.0012842851311805502, + 'l_grip': 0.0018891408087720017, + 'l_vec': 0.0015459042529161959, + 'loss': 0.004719330182429022} + +Epoch 175 | LeWMBCModel-train loss metric: + {'l_dir': 0.0012328993475403463, + 'l_grip': 0.0018486361062516102, + 'l_vec': 0.0015134874627740188, + 'loss': 0.00459502291846282} + +Epoch 176 | LeWMBCModel-train loss metric: + {'l_dir': 0.001201839541725575, + 'l_grip': 0.0018283426421256768, + 'l_vec': 0.0014138091125959033, + 'loss': 0.0044439913018050345} + +Epoch 177 | LeWMBCModel-train loss metric: + {'l_dir': 0.0011814063519569194, + 'l_grip': 0.0017910051461187343, + 'l_vec': 0.0013861527107531433, + 'loss': 0.004358564215453599} + +Epoch 178 | LeWMBCModel-train loss metric: + {'l_dir': 0.0011967742699651404, + 'l_grip': 0.0017802138538848514, + 'l_vec': 0.0013852562713559087, + 'loss': 0.004362244398127254} + +Epoch 179 | LeWMBCModel-train loss metric: + {'l_dir': 0.001129566966999931, + 'l_grip': 0.0017616036980762995, + 'l_vec': 0.0013409038842395256, + 'loss': 0.004232074553792452} + +Epoch 180 | LeWMBCModel-train loss metric: + {'l_dir': 0.0011437222580579455, + 'l_grip': 0.0017410357951237897, + 'l_vec': 0.0013125889610238908, + 'loss': 0.004197347018091327} + +Epoch 181 | LeWMBCModel-train loss metric: + {'l_dir': 0.001139340672532372, + 'l_grip': 0.0017098298113746874, + 'l_vec': 0.0013395138750624425, + 'loss': 0.004188684369943599} + +Epoch 182 | LeWMBCModel-train loss metric: + {'l_dir': 0.0011123006827975278, + 'l_grip': 0.0016964642038805081, + 'l_vec': 0.0012511087834814894, + 'loss': 0.004059873670470948} + +Epoch 183 | LeWMBCModel-train loss metric: + {'l_dir': 0.0010667227651173763, + 'l_grip': 0.001675488371731425, + 'l_vec': 0.0012503844777835354, + 'loss': 0.003992595610516608} + +Epoch 184 | LeWMBCModel-train loss metric: + {'l_dir': 0.001025832701743497, + 'l_grip': 0.001628700518233959, + 'l_vec': 0.0011899723957998476, + 'loss': 0.003844505610863555} + +Epoch 185 | LeWMBCModel-train loss metric: + {'l_dir': 0.0009883796234057079, + 'l_grip': 0.0016329245437538087, + 'l_vec': 0.0011437406103445601, + 'loss': 0.003765044775669162} + +Epoch 186 | LeWMBCModel-train loss metric: + {'l_dir': 0.0009989531277923515, + 'l_grip': 0.0016168190346993274, + 'l_vec': 0.0011446322024818456, + 'loss': 0.0037604043723556487} + +Epoch 187 | LeWMBCModel-train loss metric: + {'l_dir': 0.0009867666283095119, + 'l_grip': 0.0016004881337194304, + 'l_vec': 0.0011197832721863748, + 'loss': 0.003707038032454719} + +Epoch 188 | LeWMBCModel-train loss metric: + {'l_dir': 0.0010145074234467275, + 'l_grip': 0.0015839303405530626, + 'l_vec': 0.0012231208317364333, + 'loss': 0.0038215585981232047} + +Epoch 189 | LeWMBCModel-train loss metric: + {'l_dir': 0.0009247363892208118, + 'l_grip': 0.0015811630420794881, + 'l_vec': 0.0010736824948352432, + 'loss': 0.003579581922386974} + +Epoch 190 | LeWMBCModel-train loss metric: + {'l_dir': 0.0009187897997962652, + 'l_grip': 0.0015516548567500912, + 'l_vec': 0.0010365701012796014, + 'loss': 0.0035070147581232245} + +Epoch 191 | LeWMBCModel-train loss metric: + {'l_dir': 0.0009017980675410537, + 'l_grip': 0.0015487571537043747, + 'l_vec': 0.0010512324222002282, + 'loss': 0.0035017876509180227} + +Epoch 192 | LeWMBCModel-train loss metric: + {'l_dir': 0.0009151942672838497, + 'l_grip': 0.001538740410941631, + 'l_vec': 0.0010410752019894551, + 'loss': 0.0034950098866716405} + +Epoch 193 | LeWMBCModel-train loss metric: + {'l_dir': 0.0009458460393207735, + 'l_grip': 0.001501072075572474, + 'l_vec': 0.0010507791230904848, + 'loss': 0.0034976972398168774} + +Epoch 194 | LeWMBCModel-train loss metric: + {'l_dir': 0.0008709787624183289, + 'l_grip': 0.001541902501409366, + 'l_vec': 0.0009536588777726151, + 'loss': 0.0033665401411491014} + +Epoch 195 | LeWMBCModel-train loss metric: + {'l_dir': 0.0009248434032126899, + 'l_grip': 0.0014633105758127354, + 'l_vec': 0.0010474708607293038, + 'loss': 0.0034356248345154025} + +Epoch 196 | LeWMBCModel-train loss metric: + {'l_dir': 0.0008462849269024955, + 'l_grip': 0.001494758308532708, + 'l_vec': 0.0009738666474604472, + 'loss': 0.003314909881312882} + +Epoch 197 | LeWMBCModel-train loss metric: + {'l_dir': 0.0008699017152659494, + 'l_grip': 0.0014586097614122185, + 'l_vec': 0.0009648969959717241, + 'loss': 0.0032934084743467896} + +Epoch 198 | LeWMBCModel-train loss metric: + {'l_dir': 0.0008975263552039006, + 'l_grip': 0.0014754622087155879, + 'l_vec': 0.0010102877685479034, + 'loss': 0.0033832763338741004} + +Epoch 199 | LeWMBCModel-train loss metric: + {'l_dir': 0.0008666609619573802, + 'l_grip': 0.001456392165682205, + 'l_vec': 0.0009865123214878927, + 'loss': 0.0033095654492911516} + diff --git a/exp/lewm_libero_all_bc_all_2026_0923_1432_49/evaluations/LeWMBCModel-val_Metric.txt b/exp/lewm_libero_all_bc_all_2026_0923_1432_49/evaluations/LeWMBCModel-val_Metric.txt new file mode 100644 index 0000000000000000000000000000000000000000..5c7d6800089848322d71de997d714b6bbf684ef0 --- /dev/null +++ b/exp/lewm_libero_all_bc_all_2026_0923_1432_49/evaluations/LeWMBCModel-val_Metric.txt @@ -0,0 +1,505 @@ +Epoch 0 | LeWMBCModel-val metric: +{'act_cosavg': 0.7138516986543234} +{'act_mseavg': 2.4839512734483065} +{'grip_accavg': 0.9630343498026274} + +Epoch 1 | LeWMBCModel-val metric: +{'act_cosavg': 0.7564778337542973} +{'act_mseavg': 2.131947862525074} +{'grip_accavg': 0.9708129693318391} + +Epoch 3 | LeWMBCModel-val metric: +{'act_cosavg': 0.8108297052760572} +{'act_mseavg': 1.66162719485797} +{'grip_accavg': 0.9721208786065033} + +Epoch 5 | LeWMBCModel-val metric: +{'act_cosavg': 0.8458346918419156} +{'act_mseavg': 1.3581677131350194} +{'grip_accavg': 0.970468782103381} + +Epoch 7 | LeWMBCModel-val metric: +{'act_cosavg': 0.8810745104547294} +{'act_mseavg': 1.0791042033710376} +{'grip_accavg': 0.9753562331921778} + +Epoch 9 | LeWMBCModel-val metric: +{'act_cosavg': 0.9053699355366028} +{'act_mseavg': 0.8640864332593577} +{'grip_accavg': 0.9764576308609262} + +Epoch 11 | LeWMBCModel-val metric: +{'act_cosavg': 0.9184647134299484} +{'act_mseavg': 0.7185705691143135} +{'grip_accavg': 0.9776278657316464} + +Epoch 13 | LeWMBCModel-val metric: +{'act_cosavg': 0.9314840889940441} +{'act_mseavg': 0.6348931781356264} +{'grip_accavg': 0.981276244070752} + +Epoch 15 | LeWMBCModel-val metric: +{'act_cosavg': 0.9375192437618673} +{'act_mseavg': 0.5530357569417121} +{'grip_accavg': 0.9856129965959745} + +Epoch 17 | LeWMBCModel-val metric: +{'act_cosavg': 0.9438420749132423} +{'act_mseavg': 0.5192603405503221} +{'grip_accavg': 0.9855441590165241} + +Epoch 19 | LeWMBCModel-val metric: +{'act_cosavg': 0.9488810197635946} +{'act_mseavg': 0.46241312152283925} +{'grip_accavg': 0.9867832310892164} + +Epoch 21 | LeWMBCModel-val metric: +{'act_cosavg': 0.9551184888863223} +{'act_mseavg': 0.3975817463087299} +{'grip_accavg': 0.9890548638707635} + +Epoch 23 | LeWMBCModel-val metric: +{'act_cosavg': 0.9576272406589225} +{'act_mseavg': 0.3916322797969719} +{'grip_accavg': 0.988297653024274} + +Epoch 25 | LeWMBCModel-val metric: +{'act_cosavg': 0.9619029381077083} +{'act_mseavg': 0.35311276663061164} +{'grip_accavg': 0.9893990505576225} + +Epoch 27 | LeWMBCModel-val metric: +{'act_cosavg': 0.962010153069289} +{'act_mseavg': 0.34603543553831917} +{'grip_accavg': 0.9906381219820367} + +Epoch 29 | LeWMBCModel-val metric: +{'act_cosavg': 0.9678532199931176} +{'act_mseavg': 0.2973504597357695} +{'grip_accavg': 0.9924278934019812} + +Epoch 31 | LeWMBCModel-val metric: +{'act_cosavg': 0.966558672141543} +{'act_mseavg': 0.30428259858058015} +{'grip_accavg': 0.9903627726325495} + +Epoch 33 | LeWMBCModel-val metric: +{'act_cosavg': 0.9697415702536814} +{'act_mseavg': 0.28502258693900284} +{'grip_accavg': 0.9901562609979124} + +Epoch 35 | LeWMBCModel-val metric: +{'act_cosavg': 0.9729061018594275} +{'act_mseavg': 0.24225691316821515} +{'grip_accavg': 0.9922213813898658} + +Epoch 37 | LeWMBCModel-val metric: +{'act_cosavg': 0.9721882787075424} +{'act_mseavg': 0.25178826318691805} +{'grip_accavg': 0.9912576580183828} + +Epoch 39 | LeWMBCModel-val metric: +{'act_cosavg': 0.9746479723001696} +{'act_mseavg': 0.22988869908151077} +{'grip_accavg': 0.9920837065797224} + +Epoch 41 | LeWMBCModel-val metric: +{'act_cosavg': 0.9755056016031739} +{'act_mseavg': 0.23525122090545336} +{'grip_accavg': 0.9917395200282633} + +Epoch 43 | LeWMBCModel-val metric: +{'act_cosavg': 0.9764102083108558} +{'act_mseavg': 0.22608632061415335} +{'grip_accavg': 0.9929097547635837} + +Epoch 45 | LeWMBCModel-val metric: +{'act_cosavg': 0.9780766360773029} +{'act_mseavg': 0.2106285078977122} +{'grip_accavg': 0.9947683622243441} + +Epoch 47 | LeWMBCModel-val metric: +{'act_cosavg': 0.9797703521975616} +{'act_mseavg': 0.18666735163056333} +{'grip_accavg': 0.9938734769739106} + +Epoch 49 | LeWMBCModel-val metric: +{'act_cosavg': 0.9804542104630212} +{'act_mseavg': 0.18420701193868594} +{'grip_accavg': 0.9939423143112824} + +Epoch 51 | LeWMBCModel-val metric: +{'act_cosavg': 0.9822950978941178} +{'act_mseavg': 0.16262616813613648} +{'grip_accavg': 0.9946306875496005} + +Epoch 53 | LeWMBCModel-val metric: +{'act_cosavg': 0.9817075775939451} +{'act_mseavg': 0.1644613768810775} +{'grip_accavg': 0.994424175672885} + +Epoch 55 | LeWMBCModel-val metric: +{'act_cosavg': 0.980828721516556} +{'act_mseavg': 0.17398148885677234} +{'grip_accavg': 0.9942176641736478} + +Epoch 57 | LeWMBCModel-val metric: +{'act_cosavg': 0.9827505690663993} +{'act_mseavg': 0.15464777644530556} +{'grip_accavg': 0.9953190615715963} + +Epoch 59 | LeWMBCModel-val metric: +{'act_cosavg': 0.9853389412749369} +{'act_mseavg': 0.13687825047026944} +{'grip_accavg': 0.994079988986026} + +Epoch 61 | LeWMBCModel-val metric: +{'act_cosavg': 0.9848938920611631} +{'act_mseavg': 0.1386122655146808} +{'grip_accavg': 0.9935292907999298} + +Epoch 63 | LeWMBCModel-val metric: +{'act_cosavg': 0.985235918378144} +{'act_mseavg': 0.12908436150259364} +{'grip_accavg': 0.995112548911203} + +Epoch 65 | LeWMBCModel-val metric: +{'act_cosavg': 0.9859137590239871} +{'act_mseavg': 0.1316058555641136} +{'grip_accavg': 0.9951813863839747} + +Epoch 67 | LeWMBCModel-val metric: +{'act_cosavg': 0.9860524543426219} +{'act_mseavg': 0.12341726239643201} +{'grip_accavg': 0.9944241755374852} + +Epoch 69 | LeWMBCModel-val metric: +{'act_cosavg': 0.986585646270762} +{'act_mseavg': 0.12182063035938255} +{'grip_accavg': 0.9949060375473656} + +Epoch 71 | LeWMBCModel-val metric: +{'act_cosavg': 0.9877344610653815} +{'act_mseavg': 0.11218989003582257} +{'grip_accavg': 0.9966958078061541} + +Epoch 73 | LeWMBCModel-val metric: +{'act_cosavg': 0.9886451029577299} +{'act_mseavg': 0.10755820110324343} +{'grip_accavg': 0.996076271769808} + +Epoch 75 | LeWMBCModel-val metric: +{'act_cosavg': 0.9883186044241332} +{'act_mseavg': 0.10450496426663937} +{'grip_accavg': 0.9962827837819234} + +Epoch 77 | LeWMBCModel-val metric: +{'act_cosavg': 0.9886528156723907} +{'act_mseavg': 0.1030271640723789} +{'grip_accavg': 0.9961451091071797} + +Epoch 79 | LeWMBCModel-val metric: +{'act_cosavg': 0.9883166706725343} +{'act_mseavg': 0.09622976250052576} +{'grip_accavg': 0.9960074344324361} + +Epoch 81 | LeWMBCModel-val metric: +{'act_cosavg': 0.9885377610239362} +{'act_mseavg': 0.09916231213898491} +{'grip_accavg': 0.9970399944930131} + +Epoch 83 | LeWMBCModel-val metric: +{'act_cosavg': 0.9905562554065857} +{'act_mseavg': 0.08727990197371803} +{'grip_accavg': 0.9960762716344082} + +Epoch 85 | LeWMBCModel-val metric: +{'act_cosavg': 0.9908972326908452} +{'act_mseavg': 0.08608190497160245} +{'grip_accavg': 0.9981413918909616} + +Epoch 87 | LeWMBCModel-val metric: +{'act_cosavg': 0.9905543886081493} +{'act_mseavg': 0.0820113668160428} +{'grip_accavg': 0.9975218558546155} + +Epoch 89 | LeWMBCModel-val metric: +{'act_cosavg': 0.9910497289855391} +{'act_mseavg': 0.0798495314754261} +{'grip_accavg': 0.9972465063697286} + +Epoch 91 | LeWMBCModel-val metric: +{'act_cosavg': 0.9923443281167207} +{'act_mseavg': 0.07229491442938406} +{'grip_accavg': 0.9973841811798719} + +Epoch 93 | LeWMBCModel-val metric: +{'act_cosavg': 0.9916142392504803} +{'act_mseavg': 0.07487710493884675} +{'grip_accavg': 0.9966958078061541} + +Epoch 95 | LeWMBCModel-val metric: +{'act_cosavg': 0.9926506775518716} +{'act_mseavg': 0.06484422986180569} +{'grip_accavg': 0.9980725545535899} + +Epoch 97 | LeWMBCModel-val metric: +{'act_cosavg': 0.9927580631623669} +{'act_mseavg': 0.06254443239851214} +{'grip_accavg': 0.9966269709816604} + +Epoch 99 | LeWMBCModel-val metric: +{'act_cosavg': 0.9923708952407905} +{'act_mseavg': 0.06829678524141179} +{'grip_accavg': 0.9971088318303848} + +Epoch 101 | LeWMBCModel-val metric: +{'act_cosavg': 0.9935762319174539} +{'act_mseavg': 0.057692854502573304} +{'grip_accavg': 0.9978660429189528} + +Epoch 103 | LeWMBCModel-val metric: +{'act_cosavg': 0.9925885561607722} +{'act_mseavg': 0.06449516541620423} +{'grip_accavg': 0.9982790665657052} + +Epoch 105 | LeWMBCModel-val metric: +{'act_cosavg': 0.9940127143883168} +{'act_mseavg': 0.054796474933015996} +{'grip_accavg': 0.9982790665657052} + +Epoch 107 | LeWMBCModel-val metric: +{'act_cosavg': 0.9938916152290199} +{'act_mseavg': 0.05455694435629897} +{'grip_accavg': 0.9975218558546155} + +Epoch 109 | LeWMBCModel-val metric: +{'act_cosavg': 0.994147835057166} +{'act_mseavg': 0.05201625043168944} +{'grip_accavg': 0.9972465063697286} + +Epoch 111 | LeWMBCModel-val metric: +{'act_cosavg': 0.9946811775663251} +{'act_mseavg': 0.05350241263355303} +{'grip_accavg': 0.9984855785778206} + +Epoch 113 | LeWMBCModel-val metric: +{'act_cosavg': 0.9943299280552508} +{'act_mseavg': 0.05037595865728851} +{'grip_accavg': 0.9980037170808183} + +Epoch 115 | LeWMBCModel-val metric: +{'act_cosavg': 0.9935154758612763} +{'act_mseavg': 0.05266086132510334} +{'grip_accavg': 0.9976595303939593} + +Epoch 117 | LeWMBCModel-val metric: +{'act_cosavg': 0.9944400766961481} +{'act_mseavg': 0.04486349008558392} +{'grip_accavg': 0.9988297652646796} + +Epoch 119 | LeWMBCModel-val metric: +{'act_cosavg': 0.9950216347511304} +{'act_mseavg': 0.03718573943425695} +{'grip_accavg': 0.9982102292283335} + +Epoch 121 | LeWMBCModel-val metric: +{'act_cosavg': 0.9951381259917426} +{'act_mseavg': 0.04279331945781945} +{'grip_accavg': 0.998692090589936} + +Epoch 123 | LeWMBCModel-val metric: +{'act_cosavg': 0.9959990280357438} +{'act_mseavg': 0.037950642910330346} +{'grip_accavg': 0.9984167412404488} + +Epoch 125 | LeWMBCModel-val metric: +{'act_cosavg': 0.9961781205203369} +{'act_mseavg': 0.03378683777082766} +{'grip_accavg': 0.9984855784424208} + +Epoch 127 | LeWMBCModel-val metric: +{'act_cosavg': 0.996826014257293} +{'act_mseavg': 0.027831783769248997} +{'grip_accavg': 0.9991051146141667} + +Epoch 129 | LeWMBCModel-val metric: +{'act_cosavg': 0.9958330936570403} +{'act_mseavg': 0.03915303341217081} +{'grip_accavg': 0.9977283683796091} + +Epoch 131 | LeWMBCModel-val metric: +{'act_cosavg': 0.9956447064585242} +{'act_mseavg': 0.041962908861828234} +{'grip_accavg': 0.9988297652646796} + +Epoch 133 | LeWMBCModel-val metric: +{'act_cosavg': 0.9966970808066004} +{'act_mseavg': 0.032385246987447096} +{'grip_accavg': 0.9988297652646796} + +Epoch 135 | LeWMBCModel-val metric: +{'act_cosavg': 0.9966814074314756} +{'act_mseavg': 0.02689350364160339} +{'grip_accavg': 0.9985544159151925} + +Epoch 137 | LeWMBCModel-val metric: +{'act_cosavg': 0.9968443542417315} +{'act_mseavg': 0.028002541214140485} +{'grip_accavg': 0.9992427892889103} + +Epoch 139 | LeWMBCModel-val metric: +{'act_cosavg': 0.99684691480426} +{'act_mseavg': 0.023172949067209694} +{'grip_accavg': 0.9992427892889103} + +Epoch 141 | LeWMBCModel-val metric: +{'act_cosavg': 0.9966997050357684} +{'act_mseavg': 0.030684091051518734} +{'grip_accavg': 0.9991739519515385} + +Epoch 143 | LeWMBCModel-val metric: +{'act_cosavg': 0.9966562694895003} +{'act_mseavg': 0.03134014994152715} +{'grip_accavg': 0.9988986026020513} + +Epoch 145 | LeWMBCModel-val metric: +{'act_cosavg': 0.9971107271776694} +{'act_mseavg': 0.02383724874280557} +{'grip_accavg': 0.9990362772767949} + +Epoch 147 | LeWMBCModel-val metric: +{'act_cosavg': 0.9978228080639485} +{'act_mseavg': 0.01690240365916514} +{'grip_accavg': 0.9991739519515385} + +Epoch 149 | LeWMBCModel-val metric: +{'act_cosavg': 0.9978904511338215} +{'act_mseavg': 0.01706469072299666} +{'grip_accavg': 0.9993116266262821} + +Epoch 151 | LeWMBCModel-val metric: +{'act_cosavg': 0.998164800875627} +{'act_mseavg': 0.01474420395887167} +{'grip_accavg': 0.9984855785778206} + +Epoch 153 | LeWMBCModel-val metric: +{'act_cosavg': 0.9976956066560407} +{'act_mseavg': 0.017740932192135156} +{'grip_accavg': 0.999655813313141} + +Epoch 155 | LeWMBCModel-val metric: +{'act_cosavg': 0.9973914362020894} +{'act_mseavg': 0.02076624054570704} +{'grip_accavg': 0.9993116266262821} + +Epoch 157 | LeWMBCModel-val metric: +{'act_cosavg': 0.9975720113763267} +{'act_mseavg': 0.019104297759261802} +{'grip_accavg': 0.9995869759757693} + +Epoch 159 | LeWMBCModel-val metric: +{'act_cosavg': 0.9978787310520453} +{'act_mseavg': 0.017097725399600656} +{'grip_accavg': 0.9993804639636539} + +Epoch 161 | LeWMBCModel-val metric: +{'act_cosavg': 0.9979434212814746} +{'act_mseavg': 0.013345482707986037} +{'grip_accavg': 0.9993804639636539} + +Epoch 163 | LeWMBCModel-val metric: +{'act_cosavg': 0.9979398364233628} +{'act_mseavg': 0.01743806599364774} +{'grip_accavg': 0.9989674399394232} + +Epoch 165 | LeWMBCModel-val metric: +{'act_cosavg': 0.9982449423465084} +{'act_mseavg': 0.009705325369120188} +{'grip_accavg': 0.9989674399394232} + +Epoch 167 | LeWMBCModel-val metric: +{'act_cosavg': 0.9982077670317273} +{'act_mseavg': 0.012160448471866762} +{'grip_accavg': 0.9993116266262821} + +Epoch 169 | LeWMBCModel-val metric: +{'act_cosavg': 0.998199273154438} +{'act_mseavg': 0.016522744885919108} +{'grip_accavg': 0.9995869759757693} + +Epoch 171 | LeWMBCModel-val metric: +{'act_cosavg': 0.9988468011436389} +{'act_mseavg': 0.01258851541241501} +{'grip_accavg': 0.9997246506505129} + +Epoch 173 | LeWMBCModel-val metric: +{'act_cosavg': 0.9985017525220005} +{'act_mseavg': 0.009337802629010322} +{'grip_accavg': 0.999655813313141} + +Epoch 175 | LeWMBCModel-val metric: +{'act_cosavg': 0.9989759671948212} +{'act_mseavg': 0.009866750291402179} +{'grip_accavg': 0.9997934879878846} + +Epoch 177 | LeWMBCModel-val metric: +{'act_cosavg': 0.9983689009778111} +{'act_mseavg': 0.017096715153223748} +{'grip_accavg': 0.9995869758403695} + +Epoch 179 | LeWMBCModel-val metric: +{'act_cosavg': 0.9988854488453681} +{'act_mseavg': 0.007806877118062274} +{'grip_accavg': 0.9995181386383974} + +Epoch 181 | LeWMBCModel-val metric: +{'act_cosavg': 0.9988218606392285} +{'act_mseavg': 0.01133011882629974} +{'grip_accavg': 0.9998623253252564} + +Epoch 183 | LeWMBCModel-val metric: +{'act_cosavg': 0.9986572647739722} +{'act_mseavg': 0.008874554371022378} +{'grip_accavg': 0.9993116266262821} + +Epoch 185 | LeWMBCModel-val metric: +{'act_cosavg': 0.9988840384387162} +{'act_mseavg': 0.00798460454587387} +{'grip_accavg': 0.9995869758403695} + +Epoch 187 | LeWMBCModel-val metric: +{'act_cosavg': 0.9986331014891834} +{'act_mseavg': 0.011577433803727616} +{'grip_accavg': 0.9997246506505129} + +Epoch 189 | LeWMBCModel-val metric: +{'act_cosavg': 0.9989831894379715} +{'act_mseavg': 0.0072279081473703615} +{'grip_accavg': 0.9997934879878846} + +Epoch 191 | LeWMBCModel-val metric: +{'act_cosavg': 0.9990379476839376} +{'act_mseavg': 0.00713122219750966} +{'grip_accavg': 0.9995869759757693} + +Epoch 193 | LeWMBCModel-val metric: +{'act_cosavg': 0.9988346284735824} +{'act_mseavg': 0.006957840372343418} +{'grip_accavg': 0.9992427892889103} + +Epoch 195 | LeWMBCModel-val metric: +{'act_cosavg': 0.9989057732906921} +{'act_mseavg': 0.008297475432775167} +{'grip_accavg': 0.9994493013010257} + +Epoch 197 | LeWMBCModel-val metric: +{'act_cosavg': 0.9989123870388167} +{'act_mseavg': 0.007447809562349236} +{'grip_accavg': 0.9997246505151131} + +Epoch 199 | LeWMBCModel-val metric: +{'act_cosavg': 0.9990039341069141} +{'act_mseavg': 0.005208054310363626} +{'grip_accavg': 0.9997246506505129} + diff --git a/exp/lewm_libero_all_bc_all_2026_0923_1432_49/lewm_libero_all_bc_all_2026_0923_1432_49.log b/exp/lewm_libero_all_bc_all_2026_0923_1432_49/lewm_libero_all_bc_all_2026_0923_1432_49.log new file mode 100644 index 0000000000000000000000000000000000000000..fb64478ac227c2760523e1985104c4b4b07e76f2 --- /dev/null +++ b/exp/lewm_libero_all_bc_all_2026_0923_1432_49/lewm_libero_all_bc_all_2026_0923_1432_49.log @@ -0,0 +1,781 @@ +2026-09-23 14:32:58,623 [ INFO] run command: scripts/train_general.py -c config/lewm_libero_all_bc_all.yaml --exp_id lewm_libero_all_bc_all -g 2 -p 29518 -w 8 --eval_interval 2 --snapshot 10 +2026-09-23 14:32:58,669 [ INFO] git commit: baf86a8311fac716fe1c0add4979737f6b5b2f69 +2026-09-23 14:32:58,676 [ INFO] >>> Dump cfg file to exp/lewm_libero_all_bc_all_2026_0923_1432_49/dump_cfg.yaml +2026-09-23 14:32:59,075 [ INFO] ensure_shm_episode_export: building /dev/shm/ppp_cache/libero_full_consolidated.h5.pixels.6363c1ef662d61dd.npy (1007618 frames of 'pixels', 49.5GB) ... +2026-09-23 14:33:57,347 [ INFO] LiberoLeWMDataset[all]: SHM_CACHE -- 1007618 frames x 2 view(s) mmapped from /dev/shm, shared across ranks +2026-09-23 14:33:57,350 [ INFO] LiberoLeWMDataset[all]: 903618 windows from 6500 episodes (ratio=0.9 seed=3072 stratify=True, num_steps=4, frameskip=4, span=16, timing=post_action_v1, action_offset=1) in 58.3s +2026-09-23 14:33:57,545 [ INFO] LiberoLeWMGGFieldDataset[all]: 526839 pairs from 6500 episodes (0 too short), gaps [1, 2, 4, 8, 16, 30] grid steps x frameskip 4, anchor_stride 2, history_size 3 in 0.2s +2026-09-23 14:33:57,574 [ INFO] ensure_shm_episode_export: building /dev/shm/ppp_cache/libero_full_consolidated.h5.pixels.7deaf4745b53481f.npy (100437 frames of 'pixels', 4.9GB) ... +2026-09-23 14:34:11,660 [ INFO] LiberoLeWMDataset[val]: SHM_CACHE -- 100437 frames x 2 view(s) mmapped from /dev/shm, shared across ranks +2026-09-23 14:34:11,662 [ INFO] LiberoLeWMDataset[val]: 90037 windows from 650 episodes (ratio=0.9 seed=3072 stratify=True, num_steps=4, frameskip=4, span=16, timing=post_action_v1, action_offset=1) in 14.1s +2026-09-23 14:34:11,688 [ INFO] LiberoLeWMGGFieldDataset[val]: 14527 pairs from 650 episodes (0 too short), gaps [1, 2, 4, 8, 16, 30] grid steps x frameskip 4, anchor_stride 8, history_size 3 in 0.0s +2026-09-23 14:34:12,056 [WARNING] => Init LeWM weights in its' backbone and head +2026-09-23 14:34:12,058 [ INFO] LeWM has 192.79505157470703M parameters +2026-09-23 14:34:12,061 [ INFO] LeWM: 50.54M params (192.8 MiB) +2026-09-23 14:34:12,233 [ INFO] LeWMFieldAdapter: frozen LeWM (50.5M params) from exp/lewm_libero_all_2026_0921_2142_10/checkpoints/checkpoint_100/LeWM.pth.tar | cfg=config/lewm_libero_all.yaml | D=384 H=3 frameskip=4 cameras=['pixels', 'pixels_wrist'] action_source=osc normalize_actions=True +2026-09-23 14:34:12,277 [ INFO] LeWMBCModel: FIELD-MATCHED BC -- a = pi_phi(z_next, l) on the covector's own base point (D=384, Rung A FiLM-MLP trunk, out_dim=6, 42.0 MiB) | policy 11.3M + world model 0.0M trainable (FROZEN) | gripper_head=on, ctx_action_base='median', ctx_image_base='history' | vec=1.0 dir=1.0 grip=1.0 wm=0.0 | NO potential, NO geometry +2026-09-23 14:34:12,343 [ INFO] LeWMBCModel: param groups -- POLICY 42 tensors lr=0.0003, WORLD_MODEL 0 tensors lr=5e-05 +2026-09-23 14:34:12,345 [WARNING] ############## start training from 0 to 200 ############## +2026-09-23 14:35:25,534 [ INFO] LeWMBCModel: batch contract OK (H=3, views=2, D=384) +2026-09-23 14:41:51,176 [ INFO] Current LR: [0.00011999999999999999] +2026-09-23 14:41:51,371 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 14:41:51,376 [ INFO] do validation and save results +2026-09-23 14:42:26,421 [ INFO] LeWMBCModel val epoch 0: act_cos=0.7139 act_mse=2.4840 act_nmse=0.4123 (1.0 = a_hat=0) act_nmse_rep=4.7684 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9630 grip_acc_switch=0.1278 (n=180) +2026-09-23 14:42:26,422 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.7139 (UNGATED -- no potential to gate on) +2026-09-23 14:42:26,743 [ INFO] new best checkpoint (score=0.7139) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 14:48:54,321 [ INFO] Current LR: [0.00017999999999999998] +2026-09-23 14:48:54,536 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 14:48:54,538 [ INFO] do validation and save results +2026-09-23 14:49:29,312 [ INFO] LeWMBCModel val epoch 1: act_cos=0.7565 act_mse=2.1319 act_nmse=0.3539 (1.0 = a_hat=0) act_nmse_rep=4.0926 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9708 grip_acc_switch=0.3056 (n=180) +2026-09-23 14:49:29,313 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.7565 (UNGATED -- no potential to gate on) +2026-09-23 14:49:32,264 [ INFO] new best checkpoint (score=0.7565) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 14:55:53,743 [ INFO] Current LR: [0.00023999999999999998] +2026-09-23 14:55:53,878 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 15:02:18,281 [ INFO] Current LR: [0.0003] +2026-09-23 15:02:18,408 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 15:02:18,411 [ INFO] do validation and save results +2026-09-23 15:02:53,489 [ INFO] LeWMBCModel val epoch 3: act_cos=0.8108 act_mse=1.6616 act_nmse=0.2758 (1.0 = a_hat=0) act_nmse_rep=3.1898 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9721 grip_acc_switch=0.3889 (n=180) +2026-09-23 15:02:53,490 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.8108 (UNGATED -- no potential to gate on) +2026-09-23 15:02:55,323 [ INFO] new best checkpoint (score=0.8108) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 15:09:09,632 [ INFO] Current LR: [0.0003] +2026-09-23 15:09:09,766 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 15:15:30,522 [ INFO] Current LR: [0.00029998248037113557] +2026-09-23 15:15:30,651 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 15:15:30,654 [ INFO] do validation and save results +2026-09-23 15:16:06,232 [ INFO] LeWMBCModel val epoch 5: act_cos=0.8458 act_mse=1.3582 act_nmse=0.2255 (1.0 = a_hat=0) act_nmse_rep=2.6072 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9705 grip_acc_switch=0.2444 (n=180) +2026-09-23 15:16:06,232 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.8458 (UNGATED -- no potential to gate on) +2026-09-23 15:16:09,306 [ INFO] new best checkpoint (score=0.8458) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 15:22:37,713 [ INFO] Current LR: [0.000299929926031763] +2026-09-23 15:22:37,844 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 15:29:04,276 [ INFO] Current LR: [0.0002998423506223641] +2026-09-23 15:29:04,406 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 15:29:04,410 [ INFO] do validation and save results +2026-09-23 15:29:39,601 [ INFO] LeWMBCModel val epoch 7: act_cos=0.8811 act_mse=1.0791 act_nmse=0.1791 (1.0 = a_hat=0) act_nmse_rep=2.0715 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9754 grip_acc_switch=0.4000 (n=180) +2026-09-23 15:29:39,602 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.8811 (UNGATED -- no potential to gate on) +2026-09-23 15:29:42,636 [ INFO] new best checkpoint (score=0.8811) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 15:36:03,081 [ INFO] Current LR: [0.00029971977687314133] +2026-09-23 15:36:03,210 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 15:42:18,138 [ INFO] Current LR: [0.00029956223659811834] +2026-09-23 15:42:18,783 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 15:42:18,786 [ INFO] do validation and save results +2026-09-23 15:42:54,223 [ INFO] LeWMBCModel val epoch 9: act_cos=0.9054 act_mse=0.8641 act_nmse=0.1434 (1.0 = a_hat=0) act_nmse_rep=1.6588 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9765 grip_acc_switch=0.4611 (n=180) +2026-09-23 15:42:54,223 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9054 (UNGATED -- no potential to gate on) +2026-09-23 15:42:56,982 [ INFO] new best checkpoint (score=0.9054) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 15:49:27,361 [ INFO] Current LR: [0.00029936977068688254] +2026-09-23 15:49:27,500 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 15:55:56,311 [ INFO] Current LR: [0.00029914242909397223] +2026-09-23 15:55:56,447 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 15:55:56,449 [ INFO] do validation and save results +2026-09-23 15:56:31,364 [ INFO] LeWMBCModel val epoch 11: act_cos=0.9185 act_mse=0.7186 act_nmse=0.1193 (1.0 = a_hat=0) act_nmse_rep=1.3794 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9776 grip_acc_switch=0.4667 (n=180) +2026-09-23 15:56:31,364 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9185 (UNGATED -- no potential to gate on) +2026-09-23 15:56:33,651 [ INFO] new best checkpoint (score=0.9185) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 16:02:59,884 [ INFO] Current LR: [0.00029888027082591086] +2026-09-23 16:03:00,027 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 16:09:13,365 [ INFO] Current LR: [0.00029858336392589186] +2026-09-23 16:09:13,498 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 16:09:13,501 [ INFO] do validation and save results +2026-09-23 16:09:48,573 [ INFO] LeWMBCModel val epoch 13: act_cos=0.9315 act_mse=0.6349 act_nmse=0.1054 (1.0 = a_hat=0) act_nmse_rep=1.2188 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9813 grip_acc_switch=0.4833 (n=180) +2026-09-23 16:09:48,573 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9315 (UNGATED -- no potential to gate on) +2026-09-23 16:09:49,906 [ INFO] new best checkpoint (score=0.9315) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 16:16:20,505 [ INFO] Current LR: [0.0002982517854561182] +2026-09-23 16:16:20,639 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 16:22:51,027 [ INFO] Current LR: [0.00029788562147780066] +2026-09-23 16:22:51,159 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 16:22:51,162 [ INFO] do validation and save results +2026-09-23 16:23:26,112 [ INFO] LeWMBCModel val epoch 15: act_cos=0.9375 act_mse=0.5530 act_nmse=0.0918 (1.0 = a_hat=0) act_nmse_rep=1.0616 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9856 grip_acc_switch=0.6667 (n=180) +2026-09-23 16:23:26,112 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9375 (UNGATED -- no potential to gate on) +2026-09-23 16:23:29,086 [ INFO] new best checkpoint (score=0.9375) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 16:29:58,895 [ INFO] Current LR: [0.0002974849670288208] +2026-09-23 16:29:59,040 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 16:36:18,960 [ INFO] Current LR: [0.0002970499260990637] +2026-09-23 16:36:19,100 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 16:36:19,102 [ INFO] do validation and save results +2026-09-23 16:36:54,488 [ INFO] LeWMBCModel val epoch 17: act_cos=0.9438 act_mse=0.5193 act_nmse=0.0862 (1.0 = a_hat=0) act_nmse_rep=0.9968 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9855 grip_acc_switch=0.6889 (n=180) +2026-09-23 16:36:54,489 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9438 (UNGATED -- no potential to gate on) +2026-09-23 16:36:56,178 [ INFO] new best checkpoint (score=0.9438) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 16:43:24,800 [ INFO] Current LR: [0.00029658061160342774] +2026-09-23 16:43:24,934 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 16:49:49,403 [ INFO] Current LR: [0.000296077145352517] +2026-09-23 16:49:50,491 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 16:49:50,493 [ INFO] do validation and save results +2026-09-23 16:50:25,507 [ INFO] LeWMBCModel val epoch 19: act_cos=0.9489 act_mse=0.4624 act_nmse=0.0768 (1.0 = a_hat=0) act_nmse_rep=0.8877 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9868 grip_acc_switch=0.6889 (n=180) +2026-09-23 16:50:25,507 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9489 (UNGATED -- no potential to gate on) +2026-09-23 16:50:27,016 [ INFO] new best checkpoint (score=0.9489) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 16:56:58,702 [ INFO] Current LR: [0.0002955396580210258] +2026-09-23 16:56:58,839 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 17:03:16,192 [ INFO] Current LR: [0.0002949682891138217] +2026-09-23 17:03:16,331 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 17:03:16,334 [ INFO] do validation and save results +2026-09-23 17:03:51,921 [ INFO] LeWMBCModel val epoch 21: act_cos=0.9551 act_mse=0.3976 act_nmse=0.0660 (1.0 = a_hat=0) act_nmse_rep=0.7632 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9891 grip_acc_switch=0.8278 (n=180) +2026-09-23 17:03:51,921 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9551 (UNGATED -- no potential to gate on) +2026-09-23 17:03:53,227 [ INFO] new best checkpoint (score=0.9551) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 17:10:21,616 [ INFO] Current LR: [0.00029436318692973744] +2026-09-23 17:10:21,747 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 17:16:43,335 [ INFO] Current LR: [0.00029372450852307937] +2026-09-23 17:16:43,462 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 17:16:43,465 [ INFO] do validation and save results +2026-09-23 17:17:18,446 [ INFO] LeWMBCModel val epoch 23: act_cos=0.9576 act_mse=0.3916 act_nmse=0.0650 (1.0 = a_hat=0) act_nmse_rep=0.7518 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9883 grip_acc_switch=0.7222 (n=180) +2026-09-23 17:17:18,446 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9576 (UNGATED -- no potential to gate on) +2026-09-23 17:17:19,151 [ INFO] new best checkpoint (score=0.9576) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 17:23:28,770 [ INFO] Current LR: [0.0002930524196628646] +2026-09-23 17:23:28,900 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 17:29:39,205 [ INFO] Current LR: [0.00029234709478979525] +2026-09-23 17:29:39,353 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 17:29:39,355 [ INFO] do validation and save results +2026-09-23 17:30:14,398 [ INFO] LeWMBCModel val epoch 25: act_cos=0.9619 act_mse=0.3531 act_nmse=0.0586 (1.0 = a_hat=0) act_nmse_rep=0.6779 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9894 grip_acc_switch=0.7722 (n=180) +2026-09-23 17:30:14,399 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9619 (UNGATED -- no potential to gate on) +2026-09-23 17:30:16,733 [ INFO] new best checkpoint (score=0.9619) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 17:36:27,775 [ INFO] Current LR: [0.0002916087169709826] +2026-09-23 17:36:27,908 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 17:42:37,221 [ INFO] Current LR: [0.0002908374778524316] +2026-09-23 17:42:37,356 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 17:42:37,359 [ INFO] do validation and save results +2026-09-23 17:43:12,900 [ INFO] LeWMBCModel val epoch 27: act_cos=0.9620 act_mse=0.3460 act_nmse=0.0574 (1.0 = a_hat=0) act_nmse_rep=0.6643 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9906 grip_acc_switch=0.7000 (n=180) +2026-09-23 17:43:12,900 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9620 (UNGATED -- no potential to gate on) +2026-09-23 17:43:16,065 [ INFO] new best checkpoint (score=0.9620) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 17:49:24,261 [ INFO] Current LR: [0.0002900335776092998] +2026-09-23 17:49:24,398 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 17:55:32,978 [ INFO] Current LR: [0.00028919722489394124] +2026-09-23 17:55:33,457 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 17:55:33,459 [ INFO] do validation and save results +2026-09-23 17:56:09,071 [ INFO] LeWMBCModel val epoch 29: act_cos=0.9679 act_mse=0.2974 act_nmse=0.0494 (1.0 = a_hat=0) act_nmse_rep=0.5708 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9924 grip_acc_switch=0.8611 (n=180) +2026-09-23 17:56:09,071 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9679 (UNGATED -- no potential to gate on) +2026-09-23 17:56:11,908 [ INFO] new best checkpoint (score=0.9679) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 18:02:21,460 [ INFO] Current LR: [0.0002883286367817511] +2026-09-23 18:02:21,612 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 18:08:31,254 [ INFO] Current LR: [0.0002874280387148236] +2026-09-23 18:08:31,384 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 18:08:31,387 [ INFO] do validation and save results +2026-09-23 18:09:07,072 [ INFO] LeWMBCModel val epoch 31: act_cos=0.9666 act_mse=0.3043 act_nmse=0.0505 (1.0 = a_hat=0) act_nmse_rep=0.5841 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9904 grip_acc_switch=0.8222 (n=180) +2026-09-23 18:09:07,072 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9666 (UNGATED -- no potential to gate on) +2026-09-23 18:15:15,416 [ INFO] Current LR: [0.0002864956644434386] +2026-09-23 18:15:15,549 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 18:21:23,864 [ INFO] Current LR: [0.00028553175596539163] +2026-09-23 18:21:23,997 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 18:21:24,000 [ INFO] do validation and save results +2026-09-23 18:21:58,923 [ INFO] LeWMBCModel val epoch 33: act_cos=0.9697 act_mse=0.2850 act_nmse=0.0473 (1.0 = a_hat=0) act_nmse_rep=0.5471 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9902 grip_acc_switch=0.8222 (n=180) +2026-09-23 18:21:58,924 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9697 (UNGATED -- no potential to gate on) +2026-09-23 18:21:59,417 [ INFO] new best checkpoint (score=0.9697) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 18:28:08,665 [ INFO] Current LR: [0.0002845365634631833] +2026-09-23 18:28:08,813 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 18:34:17,749 [ INFO] Current LR: [0.0002835103452390846] +2026-09-23 18:34:17,881 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 18:34:17,886 [ INFO] do validation and save results +2026-09-23 18:34:52,511 [ INFO] LeWMBCModel val epoch 35: act_cos=0.9729 act_mse=0.2423 act_nmse=0.0402 (1.0 = a_hat=0) act_nmse_rep=0.4651 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9922 grip_acc_switch=0.8722 (n=180) +2026-09-23 18:34:52,511 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9729 (UNGATED -- no potential to gate on) +2026-09-23 18:34:55,460 [ INFO] new best checkpoint (score=0.9729) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 18:41:04,777 [ INFO] Current LR: [0.00028245336764809426] +2026-09-23 18:41:04,914 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 18:47:16,578 [ INFO] Current LR: [0.0002813659050288066] +2026-09-23 18:47:16,713 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 18:47:16,715 [ INFO] do validation and save results +2026-09-23 18:47:52,122 [ INFO] LeWMBCModel val epoch 37: act_cos=0.9722 act_mse=0.2518 act_nmse=0.0418 (1.0 = a_hat=0) act_nmse_rep=0.4833 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9913 grip_acc_switch=0.7611 (n=180) +2026-09-23 18:47:52,122 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9722 (UNGATED -- no potential to gate on) +2026-09-23 18:54:01,826 [ INFO] Current LR: [0.00028024823963220674] +2026-09-23 18:54:01,968 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 19:00:10,674 [ INFO] Current LR: [0.0002791006615484123] +2026-09-23 19:00:11,451 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 19:00:11,453 [ INFO] do validation and save results +2026-09-23 19:00:46,285 [ INFO] LeWMBCModel val epoch 39: act_cos=0.9746 act_mse=0.2299 act_nmse=0.0382 (1.0 = a_hat=0) act_nmse_rep=0.4413 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9921 grip_acc_switch=0.8222 (n=180) +2026-09-23 19:00:46,285 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9746 (UNGATED -- no potential to gate on) +2026-09-23 19:00:49,409 [ INFO] new best checkpoint (score=0.9746) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 19:06:58,846 [ INFO] Current LR: [0.00027792346863138057] +2026-09-23 19:06:58,975 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 19:13:10,618 [ INFO] Current LR: [0.0002767169664216007] +2026-09-23 19:13:10,747 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 19:13:10,750 [ INFO] do validation and save results +2026-09-23 19:13:45,487 [ INFO] LeWMBCModel val epoch 41: act_cos=0.9755 act_mse=0.2353 act_nmse=0.0391 (1.0 = a_hat=0) act_nmse_rep=0.4516 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9917 grip_acc_switch=0.9444 (n=180) +2026-09-23 19:13:45,487 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9755 (UNGATED -- no potential to gate on) +2026-09-23 19:13:48,359 [ INFO] new best checkpoint (score=0.9755) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 19:19:57,081 [ INFO] Current LR: [0.00027548146806679024] +2026-09-23 19:19:57,227 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 19:26:06,838 [ INFO] Current LR: [0.00027421729424061787] +2026-09-23 19:26:06,972 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 19:26:06,975 [ INFO] do validation and save results +2026-09-23 19:26:42,133 [ INFO] LeWMBCModel val epoch 43: act_cos=0.9764 act_mse=0.2261 act_nmse=0.0375 (1.0 = a_hat=0) act_nmse_rep=0.4340 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9929 grip_acc_switch=0.8778 (n=180) +2026-09-23 19:26:42,133 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9764 (UNGATED -- no potential to gate on) +2026-09-23 19:26:43,911 [ INFO] new best checkpoint (score=0.9764) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 19:32:58,243 [ INFO] Current LR: [0.00027292477305947263] +2026-09-23 19:32:58,387 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 19:39:09,812 [ INFO] Current LR: [0.00027160423999730106] +2026-09-23 19:39:09,941 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 19:39:09,944 [ INFO] do validation and save results +2026-09-23 19:39:44,399 [ INFO] LeWMBCModel val epoch 45: act_cos=0.9781 act_mse=0.2106 act_nmse=0.0350 (1.0 = a_hat=0) act_nmse_rep=0.4043 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9948 grip_acc_switch=0.9167 (n=180) +2026-09-23 19:39:44,399 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9781 (UNGATED -- no potential to gate on) +2026-09-23 19:39:44,937 [ INFO] new best checkpoint (score=0.9781) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 19:45:58,734 [ INFO] Current LR: [0.000270256037798535] +2026-09-23 19:45:58,868 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 19:52:07,192 [ INFO] Current LR: [0.0002688805163891324] +2026-09-23 19:52:07,345 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 19:52:07,347 [ INFO] do validation and save results +2026-09-23 19:52:42,076 [ INFO] LeWMBCModel val epoch 47: act_cos=0.9798 act_mse=0.1867 act_nmse=0.0310 (1.0 = a_hat=0) act_nmse_rep=0.3583 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9939 grip_acc_switch=0.8944 (n=180) +2026-09-23 19:52:42,076 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9798 (UNGATED -- no potential to gate on) +2026-09-23 19:52:45,162 [ INFO] new best checkpoint (score=0.9798) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 19:58:59,816 [ INFO] Current LR: [0.0002674780327857537] +2026-09-23 19:58:59,953 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 20:05:10,243 [ INFO] Current LR: [0.0002660489510030986] +2026-09-23 20:05:10,725 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 20:05:10,727 [ INFO] do validation and save results +2026-09-23 20:05:45,591 [ INFO] LeWMBCModel val epoch 49: act_cos=0.9805 act_mse=0.1842 act_nmse=0.0306 (1.0 = a_hat=0) act_nmse_rep=0.3536 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9939 grip_acc_switch=0.9444 (n=180) +2026-09-23 20:05:45,592 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9805 (UNGATED -- no potential to gate on) +2026-09-23 20:05:48,577 [ INFO] new best checkpoint (score=0.9805) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 20:11:57,029 [ INFO] Current LR: [0.00026459364195942554] +2026-09-23 20:11:57,163 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 20:18:06,484 [ INFO] Current LR: [0.0002631124833802801] +2026-09-23 20:18:06,628 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 20:18:06,631 [ INFO] do validation and save results +2026-09-23 20:18:41,351 [ INFO] LeWMBCModel val epoch 51: act_cos=0.9823 act_mse=0.1626 act_nmse=0.0270 (1.0 = a_hat=0) act_nmse_rep=0.3122 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9946 grip_acc_switch=0.9722 (n=180) +2026-09-23 20:18:41,351 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9823 (UNGATED -- no potential to gate on) +2026-09-23 20:18:44,225 [ INFO] new best checkpoint (score=0.9823) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 20:24:58,257 [ INFO] Current LR: [0.0002616058597004563] +2026-09-23 20:24:58,407 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 20:31:07,529 [ INFO] Current LR: [0.00026007416196421656] +2026-09-23 20:31:07,659 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 20:31:07,661 [ INFO] do validation and save results +2026-09-23 20:31:42,212 [ INFO] LeWMBCModel val epoch 53: act_cos=0.9817 act_mse=0.1645 act_nmse=0.0273 (1.0 = a_hat=0) act_nmse_rep=0.3157 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9944 grip_acc_switch=0.9389 (n=180) +2026-09-23 20:31:42,213 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9817 (UNGATED -- no potential to gate on) +2026-09-23 20:37:55,961 [ INFO] Current LR: [0.0002585177877237959] +2026-09-23 20:37:56,093 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 20:44:05,688 [ INFO] Current LR: [0.0002569371409362176] +2026-09-23 20:44:05,830 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 20:44:05,833 [ INFO] do validation and save results +2026-09-23 20:44:41,181 [ INFO] LeWMBCModel val epoch 55: act_cos=0.9808 act_mse=0.1740 act_nmse=0.0289 (1.0 = a_hat=0) act_nmse_rep=0.3340 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9942 grip_acc_switch=0.8944 (n=180) +2026-09-23 20:44:41,181 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9808 (UNGATED -- no potential to gate on) +2026-09-23 20:50:50,455 [ INFO] Current LR: [0.0002553326318584458] +2026-09-23 20:50:50,593 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 20:57:00,236 [ INFO] Current LR: [0.00025370467694090366] +2026-09-23 20:57:00,400 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 20:57:00,402 [ INFO] do validation and save results +2026-09-23 20:57:35,283 [ INFO] LeWMBCModel val epoch 57: act_cos=0.9828 act_mse=0.1546 act_nmse=0.0257 (1.0 = a_hat=0) act_nmse_rep=0.2969 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9953 grip_acc_switch=0.9500 (n=180) +2026-09-23 20:57:35,283 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9828 (UNGATED -- no potential to gate on) +2026-09-23 20:57:38,507 [ INFO] new best checkpoint (score=0.9828) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 21:03:49,394 [ INFO] Current LR: [0.000252053698719383] +2026-09-23 21:03:49,527 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 21:09:59,112 [ INFO] Current LR: [0.0002503801257053759] +2026-09-23 21:09:59,916 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 21:09:59,919 [ INFO] do validation and save results +2026-09-23 21:10:34,752 [ INFO] LeWMBCModel val epoch 59: act_cos=0.9853 act_mse=0.1369 act_nmse=0.0227 (1.0 = a_hat=0) act_nmse_rep=0.2628 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9941 grip_acc_switch=0.9611 (n=180) +2026-09-23 21:10:34,753 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9853 (UNGATED -- no potential to gate on) +2026-09-23 21:10:37,638 [ INFO] new best checkpoint (score=0.9853) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 21:16:46,014 [ INFO] Current LR: [0.0002486843922748539] +2026-09-23 21:16:46,155 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 21:22:55,104 [ INFO] Current LR: [0.000246966938555526] +2026-09-23 21:22:55,237 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 21:22:55,239 [ INFO] do validation and save results +2026-09-23 21:23:30,283 [ INFO] LeWMBCModel val epoch 61: act_cos=0.9849 act_mse=0.1386 act_nmse=0.0230 (1.0 = a_hat=0) act_nmse_rep=0.2661 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9935 grip_acc_switch=0.9500 (n=180) +2026-09-23 21:23:30,284 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9849 (UNGATED -- no potential to gate on) +2026-09-23 21:29:43,919 [ INFO] Current LR: [0.00024522821031260333] +2026-09-23 21:29:44,066 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 21:35:53,415 [ INFO] Current LR: [0.00024346865883310092] +2026-09-23 21:35:53,548 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 21:35:53,550 [ INFO] do validation and save results +2026-09-23 21:36:28,171 [ INFO] LeWMBCModel val epoch 63: act_cos=0.9852 act_mse=0.1291 act_nmse=0.0214 (1.0 = a_hat=0) act_nmse_rep=0.2478 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9951 grip_acc_switch=0.9611 (n=180) +2026-09-23 21:36:28,171 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9852 (UNGATED -- no potential to gate on) +2026-09-23 21:42:39,871 [ INFO] Current LR: [0.00024168874080870599] +2026-09-23 21:42:40,010 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 21:48:48,110 [ INFO] Current LR: [0.0002398889182172437] +2026-09-23 21:48:48,239 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 21:48:48,241 [ INFO] do validation and save results +2026-09-23 21:49:23,164 [ INFO] LeWMBCModel val epoch 65: act_cos=0.9859 act_mse=0.1316 act_nmse=0.0218 (1.0 = a_hat=0) act_nmse_rep=0.2526 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9952 grip_acc_switch=0.9556 (n=180) +2026-09-23 21:49:23,164 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9859 (UNGATED -- no potential to gate on) +2026-09-23 21:49:26,050 [ INFO] new best checkpoint (score=0.9859) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 21:55:35,968 [ INFO] Current LR: [0.0002380696582027707] +2026-09-23 21:55:36,102 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 22:01:44,725 [ INFO] Current LR: [0.00023623143295432787] +2026-09-23 22:01:44,854 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 22:01:44,856 [ INFO] do validation and save results +2026-09-23 22:02:19,384 [ INFO] LeWMBCModel val epoch 67: act_cos=0.9861 act_mse=0.1234 act_nmse=0.0205 (1.0 = a_hat=0) act_nmse_rep=0.2369 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9944 grip_acc_switch=0.9500 (n=180) +2026-09-23 22:02:19,385 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9861 (UNGATED -- no potential to gate on) +2026-09-23 22:02:21,778 [ INFO] new best checkpoint (score=0.9861) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 22:08:30,386 [ INFO] Current LR: [0.00023437471958338374] +2026-09-23 22:08:30,530 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 22:14:38,554 [ INFO] Current LR: [0.00023249999999999996] +2026-09-23 22:14:39,298 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 22:14:39,301 [ INFO] do validation and save results +2026-09-23 22:15:13,792 [ INFO] LeWMBCModel val epoch 69: act_cos=0.9866 act_mse=0.1218 act_nmse=0.0202 (1.0 = a_hat=0) act_nmse_rep=0.2339 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9949 grip_acc_switch=0.9833 (n=180) +2026-09-23 22:15:13,793 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9866 (UNGATED -- no potential to gate on) +2026-09-23 22:15:14,963 [ INFO] new best checkpoint (score=0.9866) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 22:21:22,968 [ INFO] Current LR: [0.00023060776078775178] +2026-09-23 22:21:23,100 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 22:27:31,839 [ INFO] Current LR: [0.00022869849307743503] +2026-09-23 22:27:31,975 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 22:27:31,977 [ INFO] do validation and save results +2026-09-23 22:28:06,555 [ INFO] LeWMBCModel val epoch 71: act_cos=0.9877 act_mse=0.1122 act_nmse=0.0186 (1.0 = a_hat=0) act_nmse_rep=0.2154 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9967 grip_acc_switch=0.9833 (n=180) +2026-09-23 22:28:06,555 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9877 (UNGATED -- no potential to gate on) +2026-09-23 22:28:07,631 [ INFO] new best checkpoint (score=0.9877) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 22:34:16,159 [ INFO] Current LR: [0.00022677269241959335] +2026-09-23 22:34:16,296 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 22:40:25,177 [ INFO] Current LR: [0.00022483085865589755] +2026-09-23 22:40:25,302 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 22:40:25,305 [ INFO] do validation and save results +2026-09-23 22:40:59,994 [ INFO] LeWMBCModel val epoch 73: act_cos=0.9886 act_mse=0.1076 act_nmse=0.0179 (1.0 = a_hat=0) act_nmse_rep=0.2065 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9961 grip_acc_switch=0.9722 (n=180) +2026-09-23 22:40:59,994 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9886 (UNGATED -- no potential to gate on) +2026-09-23 22:41:03,084 [ INFO] new best checkpoint (score=0.9886) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 22:47:11,125 [ INFO] Current LR: [0.00022287349578941227] +2026-09-23 22:47:11,273 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 22:53:19,906 [ INFO] Current LR: [0.00022090111185378157] +2026-09-23 22:53:20,038 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 22:53:20,041 [ INFO] do validation and save results +2026-09-23 22:53:54,630 [ INFO] LeWMBCModel val epoch 75: act_cos=0.9883 act_mse=0.1045 act_nmse=0.0173 (1.0 = a_hat=0) act_nmse_rep=0.2006 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9963 grip_acc_switch=0.9833 (n=180) +2026-09-23 22:53:54,630 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9883 (UNGATED -- no potential to gate on) +2026-09-23 23:00:03,593 [ INFO] Current LR: [0.00021891421878136885] +2026-09-23 23:00:03,733 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 23:06:12,218 [ INFO] Current LR: [0.00021691333227038485] +2026-09-23 23:06:12,354 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 23:06:12,357 [ INFO] do validation and save results +2026-09-23 23:06:47,161 [ INFO] LeWMBCModel val epoch 77: act_cos=0.9887 act_mse=0.1030 act_nmse=0.0171 (1.0 = a_hat=0) act_nmse_rep=0.1978 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9961 grip_acc_switch=0.9722 (n=180) +2026-09-23 23:06:47,161 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9887 (UNGATED -- no potential to gate on) +2026-09-23 23:06:50,139 [ INFO] new best checkpoint (score=0.9887) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 23:12:57,950 [ INFO] Current LR: [0.00021489897165103794] +2026-09-23 23:12:58,083 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 23:19:10,666 [ INFO] Current LR: [0.00021287165975074227] +2026-09-23 23:19:11,140 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 23:19:11,146 [ INFO] do validation and save results +2026-09-23 23:19:45,737 [ INFO] LeWMBCModel val epoch 79: act_cos=0.9883 act_mse=0.0962 act_nmse=0.0160 (1.0 = a_hat=0) act_nmse_rep=0.1847 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9960 grip_acc_switch=0.9833 (n=180) +2026-09-23 23:19:45,737 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9883 (UNGATED -- no potential to gate on) +2026-09-23 23:25:57,927 [ INFO] Current LR: [0.00021083192275841764] +2026-09-23 23:25:58,060 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 23:32:07,074 [ INFO] Current LR: [0.00020878029008791714] +2026-09-23 23:32:07,223 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 23:32:07,226 [ INFO] do validation and save results +2026-09-23 23:32:41,927 [ INFO] LeWMBCModel val epoch 81: act_cos=0.9885 act_mse=0.0992 act_nmse=0.0165 (1.0 = a_hat=0) act_nmse_rep=0.1904 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9970 grip_acc_switch=0.9833 (n=180) +2026-09-23 23:32:41,928 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9885 (UNGATED -- no potential to gate on) +2026-09-23 23:38:49,495 [ INFO] Current LR: [0.00020671729424061788] +2026-09-23 23:38:49,625 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 23:44:57,435 [ INFO] Current LR: [0.00020464347066721013] +2026-09-23 23:44:57,565 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 23:44:57,568 [ INFO] do validation and save results +2026-09-23 23:45:32,195 [ INFO] LeWMBCModel val epoch 83: act_cos=0.9906 act_mse=0.0873 act_nmse=0.0145 (1.0 = a_hat=0) act_nmse_rep=0.1675 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9961 grip_acc_switch=0.9833 (n=180) +2026-09-23 23:45:32,195 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9906 (UNGATED -- no potential to gate on) +2026-09-23 23:45:35,049 [ INFO] new best checkpoint (score=0.9906) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-23 23:51:43,661 [ INFO] Current LR: [0.0002025593576287211] +2026-09-23 23:51:43,792 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 23:57:53,695 [ INFO] Current LR: [0.0002004654960568092] +2026-09-23 23:57:53,830 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-23 23:57:53,833 [ INFO] do validation and save results +2026-09-23 23:58:28,802 [ INFO] LeWMBCModel val epoch 85: act_cos=0.9909 act_mse=0.0861 act_nmse=0.0143 (1.0 = a_hat=0) act_nmse_rep=0.1652 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9981 grip_acc_switch=0.9833 (n=180) +2026-09-23 23:58:28,802 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9909 (UNGATED -- no potential to gate on) +2026-09-23 23:58:31,973 [ INFO] new best checkpoint (score=0.9909) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 00:04:47,105 [ INFO] Current LR: [0.00019836242941336535] +2026-09-24 00:04:47,249 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 00:11:06,532 [ INFO] Current LR: [0.0001962507035494573] +2026-09-24 00:11:06,663 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 00:11:06,666 [ INFO] do validation and save results +2026-09-24 00:11:41,549 [ INFO] LeWMBCModel val epoch 87: act_cos=0.9906 act_mse=0.0820 act_nmse=0.0136 (1.0 = a_hat=0) act_nmse_rep=0.1574 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9975 grip_acc_switch=0.9833 (n=180) +2026-09-24 00:11:41,550 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9906 (UNGATED -- no potential to gate on) +2026-09-24 00:17:54,959 [ INFO] Current LR: [0.0001941308665636538] +2026-09-24 00:17:55,091 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 00:24:04,401 [ INFO] Current LR: [0.00019200346865976597] +2026-09-24 00:24:04,940 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 00:24:04,942 [ INFO] do validation and save results +2026-09-24 00:24:40,071 [ INFO] LeWMBCModel val epoch 89: act_cos=0.9910 act_mse=0.0798 act_nmse=0.0133 (1.0 = a_hat=0) act_nmse_rep=0.1533 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9972 grip_acc_switch=0.9833 (n=180) +2026-09-24 00:24:40,071 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9910 (UNGATED -- no potential to gate on) +2026-09-24 00:24:41,542 [ INFO] new best checkpoint (score=0.9910) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 00:30:49,627 [ INFO] Current LR: [0.00018986906200404153] +2026-09-24 00:30:49,772 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 00:36:58,499 [ INFO] Current LR: [0.00018772820058185014] +2026-09-24 00:36:58,629 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 00:36:58,631 [ INFO] do validation and save results +2026-09-24 00:37:33,543 [ INFO] LeWMBCModel val epoch 91: act_cos=0.9923 act_mse=0.0723 act_nmse=0.0120 (1.0 = a_hat=0) act_nmse_rep=0.1388 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9974 grip_acc_switch=0.9833 (n=180) +2026-09-24 00:37:33,544 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9923 (UNGATED -- no potential to gate on) +2026-09-24 00:37:35,059 [ INFO] new best checkpoint (score=0.9923) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 00:43:44,474 [ INFO] Current LR: [0.0001855814400538966] +2026-09-24 00:43:44,606 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 00:49:53,133 [ INFO] Current LR: [0.00018342933761199875] +2026-09-24 00:49:53,266 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 00:49:53,268 [ INFO] do validation and save results +2026-09-24 00:50:28,750 [ INFO] LeWMBCModel val epoch 93: act_cos=0.9916 act_mse=0.0749 act_nmse=0.0124 (1.0 = a_hat=0) act_nmse_rep=0.1437 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9967 grip_acc_switch=0.9500 (n=180) +2026-09-24 00:50:28,750 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9916 (UNGATED -- no potential to gate on) +2026-09-24 00:56:37,203 [ INFO] Current LR: [0.00018127245183446856] +2026-09-24 00:56:37,345 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 01:02:46,507 [ INFO] Current LR: [0.0001791113425411332] +2026-09-24 01:02:46,645 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 01:02:46,648 [ INFO] do validation and save results +2026-09-24 01:03:21,908 [ INFO] LeWMBCModel val epoch 95: act_cos=0.9927 act_mse=0.0648 act_nmse=0.0108 (1.0 = a_hat=0) act_nmse_rep=0.1245 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9981 grip_acc_switch=0.9944 (n=180) +2026-09-24 01:03:21,908 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9927 (UNGATED -- no potential to gate on) +2026-09-24 01:03:25,096 [ INFO] new best checkpoint (score=0.9927) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 01:09:42,752 [ INFO] Current LR: [0.00017694657064803337] +2026-09-24 01:09:42,887 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 01:15:57,394 [ INFO] Current LR: [0.00017477869802183792] +2026-09-24 01:15:57,521 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 01:15:57,525 [ INFO] do validation and save results +2026-09-24 01:16:32,340 [ INFO] LeWMBCModel val epoch 97: act_cos=0.9928 act_mse=0.0625 act_nmse=0.0104 (1.0 = a_hat=0) act_nmse_rep=0.1201 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9966 grip_acc_switch=0.9833 (n=180) +2026-09-24 01:16:32,341 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9928 (UNGATED -- no potential to gate on) +2026-09-24 01:16:35,097 [ INFO] new best checkpoint (score=0.9928) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 01:22:48,379 [ INFO] Current LR: [0.00017260828733401103] +2026-09-24 01:22:48,528 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 01:28:57,813 [ INFO] Current LR: [0.00017043590191477103] +2026-09-24 01:28:58,374 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 01:28:58,377 [ INFO] do validation and save results +2026-09-24 01:29:33,414 [ INFO] LeWMBCModel val epoch 99: act_cos=0.9924 act_mse=0.0683 act_nmse=0.0113 (1.0 = a_hat=0) act_nmse_rep=0.1311 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9971 grip_acc_switch=0.9944 (n=180) +2026-09-24 01:29:33,414 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9924 (UNGATED -- no potential to gate on) +2026-09-24 01:35:46,405 [ INFO] Current LR: [0.00016826210560687784] +2026-09-24 01:35:46,533 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 01:42:04,526 [ INFO] Current LR: [0.00016608746261928762] +2026-09-24 01:42:04,651 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 01:42:04,654 [ INFO] do validation and save results +2026-09-24 01:42:39,596 [ INFO] LeWMBCModel val epoch 101: act_cos=0.9936 act_mse=0.0577 act_nmse=0.0096 (1.0 = a_hat=0) act_nmse_rep=0.1108 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9979 grip_acc_switch=0.9944 (n=180) +2026-09-24 01:42:39,596 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9936 (UNGATED -- no potential to gate on) +2026-09-24 01:42:42,562 [ INFO] new best checkpoint (score=0.9936) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 01:48:59,860 [ INFO] Current LR: [0.00016391253738071236] +2026-09-24 01:48:59,999 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 01:55:08,919 [ INFO] Current LR: [0.00016173789439312213] +2026-09-24 01:55:09,047 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 01:55:09,050 [ INFO] do validation and save results +2026-09-24 01:55:43,698 [ INFO] LeWMBCModel val epoch 103: act_cos=0.9926 act_mse=0.0645 act_nmse=0.0107 (1.0 = a_hat=0) act_nmse_rep=0.1238 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9983 grip_acc_switch=0.9833 (n=180) +2026-09-24 01:55:43,698 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9926 (UNGATED -- no potential to gate on) +2026-09-24 02:02:02,349 [ INFO] Current LR: [0.00015956409808522896] +2026-09-24 02:02:02,491 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 02:08:21,572 [ INFO] Current LR: [0.0001573917126659889] +2026-09-24 02:08:21,700 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 02:08:21,703 [ INFO] do validation and save results +2026-09-24 02:08:56,314 [ INFO] LeWMBCModel val epoch 105: act_cos=0.9940 act_mse=0.0548 act_nmse=0.0091 (1.0 = a_hat=0) act_nmse_rep=0.1052 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9983 grip_acc_switch=0.9833 (n=180) +2026-09-24 02:08:56,315 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9940 (UNGATED -- no potential to gate on) +2026-09-24 02:08:58,249 [ INFO] new best checkpoint (score=0.9940) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 02:15:09,160 [ INFO] Current LR: [0.00015522130197816208] +2026-09-24 02:15:09,289 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 02:21:18,282 [ INFO] Current LR: [0.0001530534293519666] +2026-09-24 02:21:18,413 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 02:21:18,415 [ INFO] do validation and save results +2026-09-24 02:21:53,257 [ INFO] LeWMBCModel val epoch 107: act_cos=0.9939 act_mse=0.0546 act_nmse=0.0091 (1.0 = a_hat=0) act_nmse_rep=0.1047 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9975 grip_acc_switch=0.9833 (n=180) +2026-09-24 02:21:53,257 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9939 (UNGATED -- no potential to gate on) +2026-09-24 02:28:08,484 [ INFO] Current LR: [0.0001508886574588668] +2026-09-24 02:28:08,615 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 02:34:23,733 [ INFO] Current LR: [0.0001487275481655314] +2026-09-24 02:34:24,326 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 02:34:24,329 [ INFO] do validation and save results +2026-09-24 02:34:58,756 [ INFO] LeWMBCModel val epoch 109: act_cos=0.9941 act_mse=0.0520 act_nmse=0.0086 (1.0 = a_hat=0) act_nmse_rep=0.0999 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9972 grip_acc_switch=0.9833 (n=180) +2026-09-24 02:34:58,756 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9941 (UNGATED -- no potential to gate on) +2026-09-24 02:34:59,196 [ INFO] new best checkpoint (score=0.9941) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 02:41:12,302 [ INFO] Current LR: [0.00014657066238800125] +2026-09-24 02:41:12,439 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 02:47:21,366 [ INFO] Current LR: [0.00014441855994610334] +2026-09-24 02:47:21,495 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 02:47:21,497 [ INFO] do validation and save results +2026-09-24 02:47:56,482 [ INFO] LeWMBCModel val epoch 111: act_cos=0.9947 act_mse=0.0535 act_nmse=0.0089 (1.0 = a_hat=0) act_nmse_rep=0.1027 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9985 grip_acc_switch=0.9833 (n=180) +2026-09-24 02:47:56,482 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9947 (UNGATED -- no potential to gate on) +2026-09-24 02:47:59,283 [ INFO] new best checkpoint (score=0.9947) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 02:54:09,016 [ INFO] Current LR: [0.00014227179941814978] +2026-09-24 02:54:09,147 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 03:00:19,753 [ INFO] Current LR: [0.00014013093799595844] +2026-09-24 03:00:19,893 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 03:00:19,895 [ INFO] do validation and save results +2026-09-24 03:00:54,624 [ INFO] LeWMBCModel val epoch 113: act_cos=0.9943 act_mse=0.0504 act_nmse=0.0084 (1.0 = a_hat=0) act_nmse_rep=0.0967 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9980 grip_acc_switch=0.9833 (n=180) +2026-09-24 03:00:54,624 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9943 (UNGATED -- no potential to gate on) +2026-09-24 03:07:03,330 [ INFO] Current LR: [0.000137996531340234] +2026-09-24 03:07:03,464 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 03:13:12,439 [ INFO] Current LR: [0.00013586913343634617] +2026-09-24 03:13:12,570 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 03:13:12,573 [ INFO] do validation and save results +2026-09-24 03:13:47,431 [ INFO] LeWMBCModel val epoch 115: act_cos=0.9935 act_mse=0.0527 act_nmse=0.0087 (1.0 = a_hat=0) act_nmse_rep=0.1011 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9977 grip_acc_switch=0.9833 (n=180) +2026-09-24 03:13:47,432 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9935 (UNGATED -- no potential to gate on) +2026-09-24 03:19:55,801 [ INFO] Current LR: [0.0001337492964505427] +2026-09-24 03:19:55,929 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 03:26:04,920 [ INFO] Current LR: [0.00013163757058663457] +2026-09-24 03:26:05,050 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 03:26:05,053 [ INFO] do validation and save results +2026-09-24 03:26:39,448 [ INFO] LeWMBCModel val epoch 117: act_cos=0.9944 act_mse=0.0449 act_nmse=0.0074 (1.0 = a_hat=0) act_nmse_rep=0.0861 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9988 grip_acc_switch=0.9833 (n=180) +2026-09-24 03:26:39,448 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9944 (UNGATED -- no potential to gate on) +2026-09-24 03:32:48,825 [ INFO] Current LR: [0.00012953450394319075] +2026-09-24 03:32:48,966 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 03:38:57,419 [ INFO] Current LR: [0.00012744064237127888] +2026-09-24 03:38:57,814 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 03:38:57,817 [ INFO] do validation and save results +2026-09-24 03:39:32,984 [ INFO] LeWMBCModel val epoch 119: act_cos=0.9950 act_mse=0.0372 act_nmse=0.0062 (1.0 = a_hat=0) act_nmse_rep=0.0714 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9982 grip_acc_switch=0.9944 (n=180) +2026-09-24 03:39:32,984 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9950 (UNGATED -- no potential to gate on) +2026-09-24 03:39:35,955 [ INFO] new best checkpoint (score=0.9950) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 03:45:43,937 [ INFO] Current LR: [0.00012535652933278986] +2026-09-24 03:45:44,091 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 03:51:52,954 [ INFO] Current LR: [0.0001232827057593821] +2026-09-24 03:51:53,083 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 03:51:53,086 [ INFO] do validation and save results +2026-09-24 03:52:28,168 [ INFO] LeWMBCModel val epoch 121: act_cos=0.9951 act_mse=0.0428 act_nmse=0.0071 (1.0 = a_hat=0) act_nmse_rep=0.0821 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9987 grip_acc_switch=0.9944 (n=180) +2026-09-24 03:52:28,169 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9951 (UNGATED -- no potential to gate on) +2026-09-24 03:52:30,976 [ INFO] new best checkpoint (score=0.9951) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 03:58:39,500 [ INFO] Current LR: [0.00012121970991208282] +2026-09-24 03:58:39,629 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 04:04:52,302 [ INFO] Current LR: [0.00011916807724158232] +2026-09-24 04:04:52,434 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 04:04:52,436 [ INFO] do validation and save results +2026-09-24 04:05:27,845 [ INFO] LeWMBCModel val epoch 123: act_cos=0.9960 act_mse=0.0380 act_nmse=0.0063 (1.0 = a_hat=0) act_nmse_rep=0.0729 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9984 grip_acc_switch=0.9944 (n=180) +2026-09-24 04:05:27,845 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9960 (UNGATED -- no potential to gate on) +2026-09-24 04:05:28,781 [ INFO] new best checkpoint (score=0.9960) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 04:11:37,333 [ INFO] Current LR: [0.00011712834024925766] +2026-09-24 04:11:37,471 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 04:17:45,490 [ INFO] Current LR: [0.000115101028348962] +2026-09-24 04:17:45,615 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 04:17:45,618 [ INFO] do validation and save results +2026-09-24 04:18:20,533 [ INFO] LeWMBCModel val epoch 125: act_cos=0.9962 act_mse=0.0338 act_nmse=0.0056 (1.0 = a_hat=0) act_nmse_rep=0.0649 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9985 grip_acc_switch=0.9833 (n=180) +2026-09-24 04:18:20,533 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9962 (UNGATED -- no potential to gate on) +2026-09-24 04:18:23,402 [ INFO] new best checkpoint (score=0.9962) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 04:24:38,413 [ INFO] Current LR: [0.00011308666772961512] +2026-09-24 04:24:38,547 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 04:30:48,264 [ INFO] Current LR: [0.00011108578121863111] +2026-09-24 04:30:48,390 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 04:30:48,391 [ INFO] do validation and save results +2026-09-24 04:31:23,551 [ INFO] LeWMBCModel val epoch 127: act_cos=0.9968 act_mse=0.0278 act_nmse=0.0046 (1.0 = a_hat=0) act_nmse_rep=0.0534 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9991 grip_acc_switch=0.9944 (n=180) +2026-09-24 04:31:23,551 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9968 (UNGATED -- no potential to gate on) +2026-09-24 04:31:26,464 [ INFO] new best checkpoint (score=0.9968) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 04:37:40,902 [ INFO] Current LR: [0.0001090988881462184] +2026-09-24 04:37:41,036 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 04:43:50,063 [ INFO] Current LR: [0.00010712650421058765] +2026-09-24 04:43:50,621 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 04:43:50,624 [ INFO] do validation and save results +2026-09-24 04:44:25,366 [ INFO] LeWMBCModel val epoch 129: act_cos=0.9958 act_mse=0.0392 act_nmse=0.0065 (1.0 = a_hat=0) act_nmse_rep=0.0752 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9977 grip_acc_switch=0.9944 (n=180) +2026-09-24 04:44:25,366 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9958 (UNGATED -- no potential to gate on) +2026-09-24 04:50:41,903 [ INFO] Current LR: [0.00010516914134410242] +2026-09-24 04:50:42,036 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 04:56:55,768 [ INFO] Current LR: [0.00010322730758040663] +2026-09-24 04:56:55,899 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 04:56:55,901 [ INFO] do validation and save results +2026-09-24 04:57:30,488 [ INFO] LeWMBCModel val epoch 131: act_cos=0.9956 act_mse=0.0420 act_nmse=0.0070 (1.0 = a_hat=0) act_nmse_rep=0.0806 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9988 grip_acc_switch=0.9944 (n=180) +2026-09-24 04:57:30,488 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9956 (UNGATED -- no potential to gate on) +2026-09-24 05:03:41,417 [ INFO] Current LR: [0.0001013015069225649] +2026-09-24 05:03:41,549 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 05:09:50,306 [ INFO] Current LR: [9.939223921224817e-05] +2026-09-24 05:09:50,431 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 05:09:50,433 [ INFO] do validation and save results +2026-09-24 05:10:24,996 [ INFO] LeWMBCModel val epoch 133: act_cos=0.9967 act_mse=0.0324 act_nmse=0.0054 (1.0 = a_hat=0) act_nmse_rep=0.0622 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9988 grip_acc_switch=0.9944 (n=180) +2026-09-24 05:10:24,996 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9967 (UNGATED -- no potential to gate on) +2026-09-24 05:16:40,307 [ INFO] Current LR: [9.750000000000001e-05] +2026-09-24 05:16:40,441 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 05:22:51,966 [ INFO] Current LR: [9.562528041661622e-05] +2026-09-24 05:22:52,092 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 05:22:52,095 [ INFO] do validation and save results +2026-09-24 05:23:27,610 [ INFO] LeWMBCModel val epoch 135: act_cos=0.9967 act_mse=0.0269 act_nmse=0.0045 (1.0 = a_hat=0) act_nmse_rep=0.0516 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9986 grip_acc_switch=0.9944 (n=180) +2026-09-24 05:23:27,610 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9967 (UNGATED -- no potential to gate on) +2026-09-24 05:29:36,330 [ INFO] Current LR: [9.376856704567206e-05] +2026-09-24 05:29:36,463 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 05:35:45,281 [ INFO] Current LR: [9.193034179722925e-05] +2026-09-24 05:35:45,427 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 05:35:45,429 [ INFO] do validation and save results +2026-09-24 05:36:20,965 [ INFO] LeWMBCModel val epoch 137: act_cos=0.9968 act_mse=0.0280 act_nmse=0.0046 (1.0 = a_hat=0) act_nmse_rep=0.0538 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9992 grip_acc_switch=0.9944 (n=180) +2026-09-24 05:36:20,965 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9968 (UNGATED -- no potential to gate on) +2026-09-24 05:36:24,210 [ INFO] new best checkpoint (score=0.9968) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 05:42:37,301 [ INFO] Current LR: [9.011108178275623e-05] +2026-09-24 05:42:37,435 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 05:48:48,241 [ INFO] Current LR: [8.831125919129397e-05] +2026-09-24 05:48:49,111 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 05:48:49,114 [ INFO] do validation and save results +2026-09-24 05:49:24,545 [ INFO] LeWMBCModel val epoch 139: act_cos=0.9968 act_mse=0.0232 act_nmse=0.0038 (1.0 = a_hat=0) act_nmse_rep=0.0445 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9992 grip_acc_switch=0.9944 (n=180) +2026-09-24 05:49:24,545 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9968 (UNGATED -- no potential to gate on) +2026-09-24 05:49:27,377 [ INFO] new best checkpoint (score=0.9968) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 05:55:44,623 [ INFO] Current LR: [8.65313411668991e-05] +2026-09-24 05:55:44,758 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 06:01:58,697 [ INFO] Current LR: [8.477178968739666e-05] +2026-09-24 06:01:58,835 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 06:01:58,838 [ INFO] do validation and save results +2026-09-24 06:02:33,616 [ INFO] LeWMBCModel val epoch 141: act_cos=0.9967 act_mse=0.0307 act_nmse=0.0051 (1.0 = a_hat=0) act_nmse_rep=0.0589 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9992 grip_acc_switch=0.9944 (n=180) +2026-09-24 06:02:33,616 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9967 (UNGATED -- no potential to gate on) +2026-09-24 06:08:44,306 [ INFO] Current LR: [8.303306144447398e-05] +2026-09-24 06:08:44,446 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 06:14:59,230 [ INFO] Current LR: [8.131560772514605e-05] +2026-09-24 06:14:59,376 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 06:14:59,378 [ INFO] do validation and save results +2026-09-24 06:15:34,008 [ INFO] LeWMBCModel val epoch 143: act_cos=0.9967 act_mse=0.0313 act_nmse=0.0052 (1.0 = a_hat=0) act_nmse_rep=0.0602 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9989 grip_acc_switch=0.9944 (n=180) +2026-09-24 06:15:34,008 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9967 (UNGATED -- no potential to gate on) +2026-09-24 06:21:46,773 [ INFO] Current LR: [7.961987429462407e-05] +2026-09-24 06:21:46,908 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 06:27:56,626 [ INFO] Current LR: [7.794630128061699e-05] +2026-09-24 06:27:56,766 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 06:27:56,768 [ INFO] do validation and save results +2026-09-24 06:28:31,592 [ INFO] LeWMBCModel val epoch 145: act_cos=0.9971 act_mse=0.0238 act_nmse=0.0040 (1.0 = a_hat=0) act_nmse_rep=0.0458 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9990 grip_acc_switch=0.9944 (n=180) +2026-09-24 06:28:31,592 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9971 (UNGATED -- no potential to gate on) +2026-09-24 06:28:32,169 [ INFO] new best checkpoint (score=0.9971) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 06:34:48,812 [ INFO] Current LR: [7.629532305909636e-05] +2026-09-24 06:34:48,953 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 06:41:10,149 [ INFO] Current LR: [7.466736814155417e-05] +2026-09-24 06:41:10,282 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 06:41:10,284 [ INFO] do validation and save results +2026-09-24 06:41:45,526 [ INFO] LeWMBCModel val epoch 147: act_cos=0.9978 act_mse=0.0169 act_nmse=0.0028 (1.0 = a_hat=0) act_nmse_rep=0.0324 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9992 grip_acc_switch=0.9944 (n=180) +2026-09-24 06:41:45,526 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9978 (UNGATED -- no potential to gate on) +2026-09-24 06:41:48,608 [ INFO] new best checkpoint (score=0.9978) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 06:48:06,858 [ INFO] Current LR: [7.306285906378236e-05] +2026-09-24 06:48:06,997 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 06:54:17,324 [ INFO] Current LR: [7.148221227620408e-05] +2026-09-24 06:54:17,729 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 06:54:17,731 [ INFO] do validation and save results +2026-09-24 06:54:52,182 [ INFO] LeWMBCModel val epoch 149: act_cos=0.9979 act_mse=0.0171 act_nmse=0.0028 (1.0 = a_hat=0) act_nmse_rep=0.0328 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9993 grip_acc_switch=0.9944 (n=180) +2026-09-24 06:54:52,182 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9979 (UNGATED -- no potential to gate on) +2026-09-24 06:54:55,084 [ INFO] new best checkpoint (score=0.9979) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 07:01:03,687 [ INFO] Current LR: [6.992583803578345e-05] +2026-09-24 07:01:03,826 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 07:07:12,985 [ INFO] Current LR: [6.839414029954365e-05] +2026-09-24 07:07:13,119 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 07:07:13,121 [ INFO] do validation and save results +2026-09-24 07:07:48,189 [ INFO] LeWMBCModel val epoch 151: act_cos=0.9982 act_mse=0.0147 act_nmse=0.0024 (1.0 = a_hat=0) act_nmse_rep=0.0283 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9985 grip_acc_switch=0.9944 (n=180) +2026-09-24 07:07:48,189 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9982 (UNGATED -- no potential to gate on) +2026-09-24 07:07:51,127 [ INFO] new best checkpoint (score=0.9982) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 07:14:08,976 [ INFO] Current LR: [6.688751661971989e-05] +2026-09-24 07:14:09,105 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 07:20:22,269 [ INFO] Current LR: [6.540635804057443e-05] +2026-09-24 07:20:22,400 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 07:20:22,403 [ INFO] do validation and save results +2026-09-24 07:20:57,127 [ INFO] LeWMBCModel val epoch 153: act_cos=0.9977 act_mse=0.0177 act_nmse=0.0029 (1.0 = a_hat=0) act_nmse_rep=0.0341 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9997 grip_acc_switch=0.9944 (n=180) +2026-09-24 07:20:57,127 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9977 (UNGATED -- no potential to gate on) +2026-09-24 07:27:08,868 [ INFO] Current LR: [6.395104899690133e-05] +2026-09-24 07:27:09,001 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 07:33:18,311 [ INFO] Current LR: [6.252196721424626e-05] +2026-09-24 07:33:18,442 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 07:33:18,444 [ INFO] do validation and save results +2026-09-24 07:33:53,504 [ INFO] LeWMBCModel val epoch 155: act_cos=0.9974 act_mse=0.0208 act_nmse=0.0034 (1.0 = a_hat=0) act_nmse_rep=0.0399 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9993 grip_acc_switch=0.9944 (n=180) +2026-09-24 07:33:53,504 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9974 (UNGATED -- no potential to gate on) +2026-09-24 07:40:02,660 [ INFO] Current LR: [6.111948361086759e-05] +2026-09-24 07:40:02,803 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 07:46:11,036 [ INFO] Current LR: [5.974396220146499e-05] +2026-09-24 07:46:11,167 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 07:46:11,170 [ INFO] do validation and save results +2026-09-24 07:46:46,206 [ INFO] LeWMBCModel val epoch 157: act_cos=0.9976 act_mse=0.0191 act_nmse=0.0032 (1.0 = a_hat=0) act_nmse_rep=0.0367 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9996 grip_acc_switch=0.9944 (n=180) +2026-09-24 07:46:46,206 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9976 (UNGATED -- no potential to gate on) +2026-09-24 07:52:54,426 [ INFO] Current LR: [5.839576000269893e-05] +2026-09-24 07:52:54,560 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 07:59:02,038 [ INFO] Current LR: [5.707522694052737e-05] +2026-09-24 07:59:02,691 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 07:59:02,694 [ INFO] do validation and save results +2026-09-24 07:59:37,507 [ INFO] LeWMBCModel val epoch 159: act_cos=0.9979 act_mse=0.0171 act_nmse=0.0028 (1.0 = a_hat=0) act_nmse_rep=0.0328 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9994 grip_acc_switch=0.9944 (n=180) +2026-09-24 07:59:37,508 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9979 (UNGATED -- no potential to gate on) +2026-09-24 08:05:45,783 [ INFO] Current LR: [5.5782705759382104e-05] +2026-09-24 08:05:45,911 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 08:11:54,524 [ INFO] Current LR: [5.451853193320974e-05] +2026-09-24 08:11:54,656 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 08:11:54,659 [ INFO] do validation and save results +2026-09-24 08:12:29,520 [ INFO] LeWMBCModel val epoch 161: act_cos=0.9979 act_mse=0.0133 act_nmse=0.0022 (1.0 = a_hat=0) act_nmse_rep=0.0256 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9994 grip_acc_switch=0.9944 (n=180) +2026-09-24 08:12:29,520 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9979 (UNGATED -- no potential to gate on) +2026-09-24 08:18:39,445 [ INFO] Current LR: [5.328303357839928e-05] +2026-09-24 08:18:39,573 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 08:24:47,752 [ INFO] Current LR: [5.207653136861939e-05] +2026-09-24 08:24:47,889 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 08:24:47,891 [ INFO] do validation and save results +2026-09-24 08:25:22,865 [ INFO] LeWMBCModel val epoch 163: act_cos=0.9979 act_mse=0.0174 act_nmse=0.0029 (1.0 = a_hat=0) act_nmse_rep=0.0335 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9990 grip_acc_switch=0.9944 (n=180) +2026-09-24 08:25:22,865 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9979 (UNGATED -- no potential to gate on) +2026-09-24 08:31:31,929 [ INFO] Current LR: [5.089933845158772e-05] +2026-09-24 08:31:32,057 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 08:37:46,733 [ INFO] Current LR: [4.975176036779328e-05] +2026-09-24 08:37:46,872 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 08:37:46,874 [ INFO] do validation and save results +2026-09-24 08:38:21,657 [ INFO] LeWMBCModel val epoch 165: act_cos=0.9982 act_mse=0.0097 act_nmse=0.0016 (1.0 = a_hat=0) act_nmse_rep=0.0186 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9990 grip_acc_switch=0.9944 (n=180) +2026-09-24 08:38:21,657 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9982 (UNGATED -- no potential to gate on) +2026-09-24 08:38:24,839 [ INFO] new best checkpoint (score=0.9982) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 08:44:40,223 [ INFO] Current LR: [4.863409497119334e-05] +2026-09-24 08:44:40,359 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 08:50:48,329 [ INFO] Current LR: [4.754663235190571e-05] +2026-09-24 08:50:48,461 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 08:50:48,464 [ INFO] do validation and save results +2026-09-24 08:51:23,617 [ INFO] LeWMBCModel val epoch 167: act_cos=0.9982 act_mse=0.0122 act_nmse=0.0020 (1.0 = a_hat=0) act_nmse_rep=0.0233 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9993 grip_acc_switch=0.9944 (n=180) +2026-09-24 08:51:23,618 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9982 (UNGATED -- no potential to gate on) +2026-09-24 08:57:38,320 [ INFO] Current LR: [4.6489654760915376e-05] +2026-09-24 08:57:38,452 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 09:03:57,478 [ INFO] Current LR: [4.546343653681667e-05] +2026-09-24 09:03:57,864 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 09:03:57,867 [ INFO] do validation and save results +2026-09-24 09:04:32,947 [ INFO] LeWMBCModel val epoch 169: act_cos=0.9982 act_mse=0.0165 act_nmse=0.0027 (1.0 = a_hat=0) act_nmse_rep=0.0317 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9996 grip_acc_switch=0.9944 (n=180) +2026-09-24 09:04:32,948 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9982 (UNGATED -- no potential to gate on) +2026-09-24 09:10:44,813 [ INFO] Current LR: [4.4468244034608366e-05] +2026-09-24 09:10:44,940 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 09:16:54,772 [ INFO] Current LR: [4.3504335556561374e-05] +2026-09-24 09:16:54,910 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 09:16:54,913 [ INFO] do validation and save results +2026-09-24 09:17:30,201 [ INFO] LeWMBCModel val epoch 171: act_cos=0.9988 act_mse=0.0126 act_nmse=0.0021 (1.0 = a_hat=0) act_nmse_rep=0.0242 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9997 grip_acc_switch=0.9944 (n=180) +2026-09-24 09:17:30,202 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9988 (UNGATED -- no potential to gate on) +2026-09-24 09:17:32,489 [ INFO] new best checkpoint (score=0.9988) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 09:23:44,441 [ INFO] Current LR: [4.257196128517637e-05] +2026-09-24 09:23:44,572 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 09:30:01,122 [ INFO] Current LR: [4.167136321824887e-05] +2026-09-24 09:30:01,268 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 09:30:01,271 [ INFO] do validation and save results +2026-09-24 09:30:36,025 [ INFO] LeWMBCModel val epoch 173: act_cos=0.9985 act_mse=0.0093 act_nmse=0.0016 (1.0 = a_hat=0) act_nmse_rep=0.0179 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9997 grip_acc_switch=0.9944 (n=180) +2026-09-24 09:30:36,026 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9985 (UNGATED -- no potential to gate on) +2026-09-24 09:36:53,826 [ INFO] Current LR: [4.080277510605873e-05] +2026-09-24 09:36:53,965 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 09:43:05,061 [ INFO] Current LR: [3.996642239070019e-05] +2026-09-24 09:43:05,198 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 09:43:05,200 [ INFO] do validation and save results +2026-09-24 09:43:40,140 [ INFO] LeWMBCModel val epoch 175: act_cos=0.9990 act_mse=0.0099 act_nmse=0.0016 (1.0 = a_hat=0) act_nmse_rep=0.0189 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9998 grip_acc_switch=0.9944 (n=180) +2026-09-24 09:43:40,140 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9990 (UNGATED -- no potential to gate on) +2026-09-24 09:43:43,107 [ INFO] new best checkpoint (score=0.9990) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 09:50:00,061 [ INFO] Current LR: [3.916252214756836e-05] +2026-09-24 09:50:00,191 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 09:56:09,251 [ INFO] Current LR: [3.839128302901742e-05] +2026-09-24 09:56:09,377 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 09:56:09,380 [ INFO] do validation and save results +2026-09-24 09:56:44,068 [ INFO] LeWMBCModel val epoch 177: act_cos=0.9984 act_mse=0.0171 act_nmse=0.0028 (1.0 = a_hat=0) act_nmse_rep=0.0328 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9996 grip_acc_switch=0.9944 (n=180) +2026-09-24 09:56:44,068 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9984 (UNGATED -- no potential to gate on) +2026-09-24 10:02:52,633 [ INFO] Current LR: [3.765290521020467e-05] +2026-09-24 10:02:52,763 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 10:09:01,042 [ INFO] Current LR: [3.694758033713536e-05] +2026-09-24 10:09:01,410 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 10:09:01,413 [ INFO] do validation and save results +2026-09-24 10:09:36,217 [ INFO] LeWMBCModel val epoch 179: act_cos=0.9989 act_mse=0.0078 act_nmse=0.0013 (1.0 = a_hat=0) act_nmse_rep=0.0150 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9995 grip_acc_switch=0.9944 (n=180) +2026-09-24 10:09:36,218 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9989 (UNGATED -- no potential to gate on) +2026-09-24 10:15:43,369 [ INFO] Current LR: [3.6275491476920604e-05] +2026-09-24 10:15:43,504 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 10:21:51,937 [ INFO] Current LR: [3.563681307026256e-05] +2026-09-24 10:21:52,065 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 10:21:52,068 [ INFO] do validation and save results +2026-09-24 10:22:26,974 [ INFO] LeWMBCModel val epoch 181: act_cos=0.9988 act_mse=0.0113 act_nmse=0.0019 (1.0 = a_hat=0) act_nmse_rep=0.0218 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9999 grip_acc_switch=0.9944 (n=180) +2026-09-24 10:22:26,974 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9988 (UNGATED -- no potential to gate on) +2026-09-24 10:28:43,375 [ INFO] Current LR: [3.5031710886178256e-05] +2026-09-24 10:28:43,501 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 10:34:55,156 [ INFO] Current LR: [3.446034197897421e-05] +2026-09-24 10:34:55,282 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 10:34:55,285 [ INFO] do validation and save results +2026-09-24 10:35:30,190 [ INFO] LeWMBCModel val epoch 183: act_cos=0.9987 act_mse=0.0089 act_nmse=0.0015 (1.0 = a_hat=0) act_nmse_rep=0.0170 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9993 grip_acc_switch=0.9944 (n=180) +2026-09-24 10:35:30,190 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9987 (UNGATED -- no potential to gate on) +2026-09-24 10:41:39,099 [ INFO] Current LR: [3.392285464748298e-05] +2026-09-24 10:41:39,239 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 10:47:47,936 [ INFO] Current LR: [3.341938839657225e-05] +2026-09-24 10:47:48,067 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 10:47:48,069 [ INFO] do validation and save results +2026-09-24 10:48:22,971 [ INFO] LeWMBCModel val epoch 185: act_cos=0.9989 act_mse=0.0080 act_nmse=0.0013 (1.0 = a_hat=0) act_nmse_rep=0.0153 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9996 grip_acc_switch=0.9944 (n=180) +2026-09-24 10:48:22,972 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9989 (UNGATED -- no potential to gate on) +2026-09-24 10:54:30,386 [ INFO] Current LR: [3.2950073900936234e-05] +2026-09-24 10:54:30,517 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 11:00:39,263 [ INFO] Current LR: [3.251503297117919e-05] +2026-09-24 11:00:39,392 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 11:00:39,394 [ INFO] do validation and save results +2026-09-24 11:01:14,332 [ INFO] LeWMBCModel val epoch 187: act_cos=0.9986 act_mse=0.0116 act_nmse=0.0019 (1.0 = a_hat=0) act_nmse_rep=0.0222 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9997 grip_acc_switch=0.9944 (n=180) +2026-09-24 11:01:14,332 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9986 (UNGATED -- no potential to gate on) +2026-09-24 11:07:22,576 [ INFO] Current LR: [3.211437852219931e-05] +2026-09-24 11:07:22,714 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 11:13:30,857 [ INFO] Current LR: [3.174821454388177e-05] +2026-09-24 11:13:31,497 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 11:13:31,501 [ INFO] do validation and save results +2026-09-24 11:14:06,371 [ INFO] LeWMBCModel val epoch 189: act_cos=0.9990 act_mse=0.0072 act_nmse=0.0012 (1.0 = a_hat=0) act_nmse_rep=0.0139 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9998 grip_acc_switch=0.9944 (n=180) +2026-09-24 11:14:06,371 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9990 (UNGATED -- no potential to gate on) +2026-09-24 11:14:09,436 [ INFO] new best checkpoint (score=0.9990) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 11:20:23,880 [ INFO] Current LR: [3.14166360741081e-05] +2026-09-24 11:20:24,008 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 11:26:41,390 [ INFO] Current LR: [3.111972917408913e-05] +2026-09-24 11:26:41,521 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 11:26:41,524 [ INFO] do validation and save results +2026-09-24 11:27:16,345 [ INFO] LeWMBCModel val epoch 191: act_cos=0.9990 act_mse=0.0071 act_nmse=0.0012 (1.0 = a_hat=0) act_nmse_rep=0.0137 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9996 grip_acc_switch=0.9944 (n=180) +2026-09-24 11:27:16,345 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9990 (UNGATED -- no potential to gate on) +2026-09-24 11:27:19,407 [ INFO] new best checkpoint (score=0.9990) -> exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints/_modelbest +2026-09-24 11:33:29,013 [ INFO] Current LR: [3.085757090602775e-05] +2026-09-24 11:33:29,148 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 11:39:37,951 [ INFO] Current LR: [3.0630229313117435e-05] +2026-09-24 11:39:38,086 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 11:39:38,088 [ INFO] do validation and save results +2026-09-24 11:40:13,090 [ INFO] LeWMBCModel val epoch 193: act_cos=0.9988 act_mse=0.0070 act_nmse=0.0012 (1.0 = a_hat=0) act_nmse_rep=0.0134 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9992 grip_acc_switch=0.9944 (n=180) +2026-09-24 11:40:13,090 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9988 (UNGATED -- no potential to gate on) +2026-09-24 11:46:32,430 [ INFO] Current LR: [3.043776340188166e-05] +2026-09-24 11:46:32,560 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 11:52:47,147 [ INFO] Current LR: [3.028022312685868e-05] +2026-09-24 11:52:47,284 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 11:52:47,286 [ INFO] do validation and save results +2026-09-24 11:53:22,009 [ INFO] LeWMBCModel val epoch 195: act_cos=0.9989 act_mse=0.0083 act_nmse=0.0014 (1.0 = a_hat=0) act_nmse_rep=0.0159 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9994 grip_acc_switch=0.9944 (n=180) +2026-09-24 11:53:22,009 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9989 (UNGATED -- no potential to gate on) +2026-09-24 11:59:34,137 [ INFO] Current LR: [3.0157649377635906e-05] +2026-09-24 11:59:34,267 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 12:05:45,872 [ INFO] Current LR: [3.007007396823699e-05] +2026-09-24 12:05:46,009 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 12:05:46,011 [ INFO] do validation and save results +2026-09-24 12:06:20,636 [ INFO] LeWMBCModel val epoch 197: act_cos=0.9989 act_mse=0.0074 act_nmse=0.0012 (1.0 = a_hat=0) act_nmse_rep=0.0143 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9997 grip_acc_switch=0.9944 (n=180) +2026-09-24 12:06:20,636 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9989 (UNGATED -- no potential to gate on) +2026-09-24 12:12:37,259 [ INFO] Current LR: [3.001751962886442e-05] +2026-09-24 12:12:37,398 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 12:18:55,185 [ INFO] Current LR: [3e-05] +2026-09-24 12:18:55,862 [ INFO] record checkpoints to exp/lewm_libero_all_bc_all_2026_0923_1432_49/checkpoints +2026-09-24 12:18:55,864 [ INFO] do validation and save results +2026-09-24 12:19:30,482 [ INFO] LeWMBCModel val epoch 199: act_cos=0.9990 act_mse=0.0052 act_nmse=0.0009 (1.0 = a_hat=0) act_nmse_rep=0.0100 (1.0 = REPEAT last command -- the binding baseline; > 1 means no better than a no-vision repeater) | grip_acc=0.9997 grip_acc_switch=0.9944 (n=180) +2026-09-24 12:19:30,482 [ INFO] LeWMBCModel: primary_val_score = val act_cos 0.9990 (UNGATED -- no potential to gate on) diff --git a/exp/lewm_libero_all_bc_all_2026_0923_1432_49/runs/events.out.tfevents.1790145178.hopper-12.3599848.0 b/exp/lewm_libero_all_bc_all_2026_0923_1432_49/runs/events.out.tfevents.1790145178.hopper-12.3599848.0 new file mode 100644 index 0000000000000000000000000000000000000000..ee1ac480babea3be957761c1477ae5dbc428b4f6 --- /dev/null +++ b/exp/lewm_libero_all_bc_all_2026_0923_1432_49/runs/events.out.tfevents.1790145178.hopper-12.3599848.0 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62b0e6efeff49eeab4cfd7d50cba62196eaa445f2105e55fc0964d0b2947a632 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