The following values were not passed to `accelerate launch` and had defaults used instead:
	`--num_machines` was set to a value of `1`
	`--dynamo_backend` was set to a value of `'no'`
To avoid this warning pass in values for each of the problematic parameters or run `accelerate config`.
INFO 2026-11-02 20:58:12 ot_train.py:212 {'batch_size': 32,
 'checkpoint_path': None,
 'cudnn_deterministic': False,
 'dataset': {'episodes': None,
             'image_transforms': {'enable': True,
                                  'max_num_transforms': 3,
                                  'random_order': False,
                                  'tfs': {'color': {'kwargs': {'brightness': 0.2,
                                                               'contrast': [0.8,
                                                                            1.2],
                                                               'hue': 0.05,
                                                               'saturation': [0.8,
                                                                              1.2]},
                                                    'type': 'ColorJitter',
                                                    'weight': 1.0},
                                          'crop': {'kwargs': {'ratio': [1.0,
                                                                        1.0],
                                                              'scale': [0.9025,
                                                                        0.9025],
                                                              'size': [256,
                                                                       256]},
                                                   'type': 'RandomResizedCrop',
                                                   'weight': 1.0},
                                          'rotation': {'kwargs': {'degrees': [-5.0,
                                                                              5.0],
                                                                  'interpolation': 2},
                                                       'type': 'RandomRotation',
                                                       'weight': 1.0}}},
             'repo_id': 'obways/pouch_makeupitems_v3',
             'return_uint8': False,
             'revision': None,
             'root': '/root/data/obways/pouch_makeupitems_v3',
             'streaming': False,
             'use_imagenet_stats': True,
             'video_backend': 'pyav'},
 'env': None,
 'eval': {'batch_size': 50, 'n_episodes': 50, 'use_async_envs': True},
 'eval_freq': 20000,
 'job_name': 'molmoact2_makeup_20k',
 'log_freq': 20,
 'num_workers': 8,
 'optimizer': {'betas': [0.9, 0.95],
               'eps': 1e-06,
               'grad_clip_norm': 1.0,
               'lr': 1e-05,
               'type': 'adamw',
               'weight_decay': 0.0},
 'output_dir': '/workspace/outputs/molmoact2_makeup_20k',
 'peft': None,
 'persistent_workers': True,
 'policy': {'action_mode': 'continuous',
            'add_control_tokens': True,
            'add_setup_tokens': True,
            'checkpoint_force_download': False,
            'checkpoint_path': 'allenai/MolmoAct2',
            'checkpoint_revision': None,
            'chunk_size': 10,
            'control_mode': 'absolute joint pose',
            'dataset_feature_names': {},
            'device': 'cuda',
            'discrete_action_tokenizer': 'allenai/MolmoAct2-FAST-Tokenizer',
            'discrete_generation_max_steps': None,
            'discrete_loss_token_weighting': 'root_subsegments_root_tokens',
            'enable_inference_cuda_graph': True,
            'enable_knowledge_insulation': False,
            'enable_lora_action_expert': False,
            'enable_lora_vlm': True,
            'eval_seed': None,
            'expected_max_action_dim': 32,
            'flow_matching_beta_alpha': 1.0,
            'flow_matching_beta_beta': 1.5,
            'flow_matching_cutoff': 1.0,
            'flow_matching_time_offset': 0.001,
            'flow_matching_time_scale': 0.999,
            'freeze_embedding': True,
            'gradient_checkpointing': True,
            'image_keys': ['observation.images.cam_high',
                           'observation.images.cam_left_wrist',
                           'observation.images.cam_right_wrist'],
            'inference_action_mode': None,
            'input_features': {},
            'license': None,
            'lora_alpha': 16,
            'lora_bias': 'none',
            'lora_dropout': 0.05,
            'lora_rank': 64,
            'mask_action_dim_padding': True,
            'max_sequence_length': None,
            'model_dtype': 'bfloat16',
            'n_action_steps': 10,
            'n_obs_steps': 1,
            'norm_tag': None,
            'normalization_mapping': {'ACTION': <NormalizationMode.QUANTILES: 'QUANTILES'>,
                                      'STATE': <NormalizationMode.QUANTILES: 'QUANTILES'>,
                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
            'normalize_gripper': False,
            'normalize_language': True,
            'num_flow_timesteps': 8,
            'num_inference_steps': None,
            'num_state_tokens': 256,
            'optimizer_action_expert_lr': 5e-05,
            'optimizer_betas': [0.9, 0.95],
            'optimizer_connector_lr': 5e-06,
            'optimizer_eps': 1e-06,
            'optimizer_grad_clip_norm': 1.0,
            'optimizer_lr': 1e-05,
            'optimizer_vit_lr': 5e-06,
            'optimizer_weight_decay': 0.0,
            'output_features': {},
            'per_episode_seed': False,
            'pretrained_path': None,
            'private': None,
            'push_to_hub': False,
            'repo_id': None,
            'rtc_config': None,
            'scheduler_decay_lr': 1e-06,
            'scheduler_decay_steps': 20000,
            'scheduler_warmup_steps': 200,
            'setup_type': 'bimanual Trossen WidowX AI arms',
            'softmax_auxiliary_loss': True,
            'softmax_auxiliary_loss_scale': 0.0001,
            'tags': None,
            'train_action_expert_only': False,
            'trust_remote_code': True,
            'type': 'molmoact2',
            'use_amp': False,
            'use_peft': False},
 'prefetch_factor': 4,
 'rename_map': {},
 'resume': False,
 'reward_model': None,
 'sample_weighting': None,
 'save_checkpoint': True,
 'save_freq': 5000,
 'scheduler': {'decay_lr': 1e-06,
               'num_decay_steps': 20000,
               'num_warmup_steps': 200,
               'peak_lr': 1e-05,
               'type': 'molmoact2_cosine_decay_with_warmup'},
 'seed': 1000,
 'steps': 20000,
 'tolerance_s': 0.0001,
 'use_policy_training_preset': True,
 'wandb': {'add_tags': True,
           'disable_artifact': False,
           'enable': False,
           'entity': None,
           'mode': None,
           'notes': None,
           'project': 'lerobot',
           'run_id': None}}
INFO 2026-11-02 20:58:12 ot_train.py:220 Logs will be saved locally.
INFO 2026-11-02 20:58:12 ot_train.py:236 Creating dataset
WARNING 2026-11-02 20:58:12 ts/utils.py:172 Unknown fields in DatasetInfo: ['trossen_subversion']. These will be ignored.
INFO 2026-11-02 20:58:12 eo_utils.py:110 Using video codec: libsvtav1
WARNING 2026-11-02 20:58:12 ts/utils.py:172 Unknown fields in DatasetInfo: ['trossen_subversion']. These will be ignored.
INFO 2026-11-02 20:58:12 ot_train.py:270 Creating policy

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/root/molmoact2/lerobot/.venv/lib/python3.12/site-packages/transformers/modeling_rope_utils.py:1032: FutureWarning: `rope_config_validation` is deprecated and has been removed. Its functionality has been moved to RotaryEmbeddingConfigMixin.validate_rope method. PreTrainedConfig inherits this class, so please call self.validate_rope() instead. Also, make sure to use the new rope_parameters syntax. You can call self.standardize_rope_params() in the meantime.
  warnings.warn(

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`MolmoAct2Processor` defines `image_processor_class = 'AutoImageProcessor'`, which is deprecated. Register the correct mapping in `AutoImageProcessor` instead.
The `use_fast` parameter is deprecated and will be removed in a future version. Use `backend="torchvision"` instead of `use_fast=True`, or `backend="pil"` instead of `use_fast=False`.
`MolmoAct2Processor` defines `video_processor_class = 'AutoVideoProcessor'`, which is deprecated. Register the correct mapping in `AutoVideoProcessor` instead.
INFO 2026-11-02 20:59:43 ot_train.py:347 Creating optimizer and scheduler
INFO 2026-11-02 20:59:43 ot_train.py:374 Output dir: /workspace/outputs/molmoact2_makeup_20k
INFO 2026-11-02 20:59:43 ot_train.py:381 cfg.steps=20000 (20K)
INFO 2026-11-02 20:59:43 ot_train.py:382 dataset.num_frames=670162 (670K)
INFO 2026-11-02 20:59:43 ot_train.py:383 dataset.num_episodes=216
INFO 2026-11-02 20:59:43 ot_train.py:386 Effective batch size: 32 x 1 = 32
INFO 2026-11-02 20:59:43 ot_train.py:387 num_learnable_params=727296544 (727M)
INFO 2026-11-02 20:59:43 ot_train.py:388 num_total_params=5591928304 (6B)

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/root/molmoact2/lerobot/.venv/lib/python3.12/site-packages/torchvision/io/_video_deprecation_warning.py:9: UserWarning: The video decoding and encoding capabilities of torchvision are deprecated from version 0.22 and will be removed in version 0.24. We recommend that you migrate to TorchCodec, where we'll consolidate the future decoding/encoding capabilities of PyTorch: https://github.com/pytorch/torchcodec
  warnings.warn(
/root/molmoact2/lerobot/.venv/lib/python3.12/site-packages/torchvision/io/_video_deprecation_warning.py:9: UserWarning: The video decoding and encoding capabilities of torchvision are deprecated from version 0.22 and will be removed in version 0.24. We recommend that you migrate to TorchCodec, where we'll consolidate the future decoding/encoding capabilities of PyTorch: https://github.com/pytorch/torchcodec
  warnings.warn(
/root/molmoact2/lerobot/.venv/lib/python3.12/site-packages/torchvision/io/_video_deprecation_warning.py:9: UserWarning: The video decoding and encoding capabilities of torchvision are deprecated from version 0.22 and will be removed in version 0.24. We recommend that you migrate to TorchCodec, where we'll consolidate the future decoding/encoding capabilities of PyTorch: https://github.com/pytorch/torchcodec
  warnings.warn(
/root/molmoact2/lerobot/.venv/lib/python3.12/site-packages/torchvision/io/_video_deprecation_warning.py:9: UserWarning: The video decoding and encoding capabilities of torchvision are deprecated from version 0.22 and will be removed in version 0.24. We recommend that you migrate to TorchCodec, where we'll consolidate the future decoding/encoding capabilities of PyTorch: https://github.com/pytorch/torchcodec
  warnings.warn(
/root/molmoact2/lerobot/.venv/lib/python3.12/site-packages/torchvision/io/_video_deprecation_warning.py:9: UserWarning: The video decoding and encoding capabilities of torchvision are deprecated from version 0.22 and will be removed in version 0.24. We recommend that you migrate to TorchCodec, where we'll consolidate the future decoding/encoding capabilities of PyTorch: https://github.com/pytorch/torchcodec
  warnings.warn(
/root/molmoact2/lerobot/.venv/lib/python3.12/site-packages/torchvision/io/_video_deprecation_warning.py:9: UserWarning: The video decoding and encoding capabilities of torchvision are deprecated from version 0.22 and will be removed in version 0.24. We recommend that you migrate to TorchCodec, where we'll consolidate the future decoding/encoding capabilities of PyTorch: https://github.com/pytorch/torchcodec
  warnings.warn(
/root/molmoact2/lerobot/.venv/lib/python3.12/site-packages/torchvision/io/_video_deprecation_warning.py:9: UserWarning: The video decoding and encoding capabilities of torchvision are deprecated from version 0.22 and will be removed in version 0.24. We recommend that you migrate to TorchCodec, where we'll consolidate the future decoding/encoding capabilities of PyTorch: https://github.com/pytorch/torchcodec
  warnings.warn(
/root/molmoact2/lerobot/.venv/lib/python3.12/site-packages/torchvision/io/_video_deprecation_warning.py:9: UserWarning: The video decoding and encoding capabilities of torchvision are deprecated from version 0.22 and will be removed in version 0.24. We recommend that you migrate to TorchCodec, where we'll consolidate the future decoding/encoding capabilities of PyTorch: https://github.com/pytorch/torchcodec
  warnings.warn(

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Training:  10%|▉         | 1960/20000 [3:21:01<30:55:05,  6.17s/step]INFO 2026-11-03 00:20:45 ot_train.py:488 step:2K smpl:63K ep:20 epch:0.09 loss:0.015 grdn:0.203 lr:4.9e-05 updt_s:5.590 data_s:0.583

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Training:  10%|▉         | 1980/20000 [3:23:05<30:49:34,  6.16s/step]INFO 2026-11-03 00:22:49 ot_train.py:488 step:2K smpl:63K ep:20 epch:0.09 loss:0.014 grdn:0.198 lr:4.9e-05 updt_s:5.583 data_s:0.596

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Training:  10%|█         | 2020/20000 [3:27:12<30:57:16,  6.20s/step]INFO 2026-11-03 00:26:56 ot_train.py:488 step:2K smpl:65K ep:21 epch:0.10 loss:0.015 grdn:0.197 lr:4.9e-05 updt_s:5.583 data_s:0.590

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INFO 2026-11-03 05:32:05 ot_train.py:502 Checkpoint policy after step 5000

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INFO 2026-11-03 14:09:49 ot_train.py:502 Checkpoint policy after step 10000

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INFO 2026-11-03 23:09:25 ot_train.py:502 Checkpoint policy after step 15000

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INFO 2026-11-04 08:38:21 ot_train.py:502 Checkpoint policy after step 20000

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INFO 2026-11-04 08:38:45 ot_train.py:576 End of training