diff --git "a/franka_stack_mimic_1k_table_only/20250416141542/logs/log.txt" "b/franka_stack_mimic_1k_table_only/20250416141542/logs/log.txt"
new file mode 100644--- /dev/null
+++ "b/franka_stack_mimic_1k_table_only/20250416141542/logs/log.txt"
@@ -0,0 +1,9748 @@
+
+============= Initialized Observation Utils with Obs Spec =============
+
+using obs modality: low_dim with keys: ['gripper_pos', 'eef_pos', 'eef_quat']
+using obs modality: rgb with keys: ['table_cam']
+using obs modality: depth with keys: []
+using obs modality: scan with keys: []
+
+============= Loaded Environment Metadata =============
+obs key eef_pos with shape (3,)
+obs key eef_quat with shape (4,)
+obs key gripper_pos with shape (2,)
+obs key table_cam with shape (200, 200, 3)
+
+/home/shauryad/workspaces/omni_isaac_sim/_build/linux-x86_64/release/exts/omni.isaac.ml_archive/pip_prebundle/torchvision/models/_utils.py:208: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and may be removed in the future, please use 'weights' instead.
+  warnings.warn(
+/home/shauryad/workspaces/omni_isaac_sim/_build/linux-x86_64/release/exts/omni.isaac.ml_archive/pip_prebundle/torchvision/models/_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and may be removed in the future. The current behavior is equivalent to passing `weights=None`.
+  warnings.warn(msg)
+
+============= Model Summary =============
+ObservationKeyToModalityDict: mean not found, adding mean to mapping with assumed low_dim modality!
+ObservationKeyToModalityDict: scale not found, adding scale to mapping with assumed low_dim modality!
+ObservationKeyToModalityDict: logits not found, adding logits to mapping with assumed low_dim modality!
+BC_RNN_GMM (
+  ModuleDict(
+    (policy): RNNGMMActorNetwork(
+        action_dim=7, std_activation=softplus, low_noise_eval=True, num_nodes=5, min_std=0.0001
+  
+        encoder=ObservationGroupEncoder(
+            group=obs
+            ObservationEncoder(
+                Key(
+                    name=eef_pos
+                    shape=[3]
+                    modality=low_dim
+                    randomizer=None
+                    net=None
+                    sharing_from=None
+                )
+                Key(
+                    name=eef_quat
+                    shape=[4]
+                    modality=low_dim
+                    randomizer=None
+                    net=None
+                    sharing_from=None
+                )
+                Key(
+                    name=gripper_pos
+                    shape=[2]
+                    modality=low_dim
+                    randomizer=None
+                    net=None
+                    sharing_from=None
+                )
+                Key(
+                    name=table_cam
+                    shape=[3, 200, 200]
+                    modality=rgb
+                    randomizer=CropRandomizer(input_shape=[3, 200, 200], crop_size=[180, 180], num_crops=1)
+                    net=VisualCore(
+                      input_shape=[3, 180, 180]
+                      output_shape=[64]
+                      backbone_net=ResNet18Conv(input_channel=3, input_coord_conv=False)
+                      pool_net=SpatialSoftmax(num_kp=32, temperature=1.0, noise=0.0)
+                    )
+                    sharing_from=None
+                )
+                output_shape=[73]
+            )
+        )
+  
+        rnn=RNN_Base(
+          (per_step_net): ObservationDecoder(
+              Key(
+                  name=mean
+                  shape=(5, 7)
+                  modality=low_dim
+                  net=(Linear(in_features=1000, out_features=35, bias=True))
+              )
+              Key(
+                  name=scale
+                  shape=(5, 7)
+                  modality=low_dim
+                  net=(Linear(in_features=1000, out_features=35, bias=True))
+              )
+              Key(
+                  name=logits
+                  shape=(5,)
+                  modality=low_dim
+                  net=(Linear(in_features=1000, out_features=5, bias=True))
+              )
+          )
+          (nets): LSTM(73, 1000, num_layers=2, batch_first=True)
+        )
+    )
+  )
+)
+
+SequenceDataset: loading dataset into memory...
+
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+
+============= Training Dataset =============
+SequenceDataset (
+	path=datasets/mimic_dataset_res_200_1k_final.hdf5
+	obs_keys=('eef_pos', 'eef_quat', 'gripper_pos', 'table_cam')
+	seq_length=10
+	filter_key=none
+	frame_stack=1
+	pad_seq_length=True
+	pad_frame_stack=True
+	goal_mode=none
+	cache_mode=low_dim
+	num_demos=1000
+	num_sequences=243917
+)
+
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100%|#########9| 499/500 [00:27<00:00, 18.79it/s]
100%|##########| 500/500 [00:27<00:00, 18.11it/s]
+Train Epoch 1
+{
+    "Log_Likelihood": 8.980670614957809,
+    "Loss": -8.980670614957809,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 77276.4091304478,
+    "Time_Data_Loading": 0.021738727887471516,
+    "Time_Epoch": 0.46214975516001383,
+    "Time_Log_Info": 0.010281916459401448,
+    "Time_Process_Batch": 0.023227985699971518,
+    "Time_Train_Batch": 0.4042597492535909
+}
+
+Epoch 1 Memory Usage: 2998 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.57it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 2
+{
+    "Log_Likelihood": 14.427021614074707,
+    "Loss": -14.427021614074707,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 78928.49341133489,
+    "Time_Data_Loading": 0.021858600775400798,
+    "Time_Epoch": 0.45486450592676797,
+    "Time_Log_Info": 0.010215655962626139,
+    "Time_Process_Batch": 0.02332855463027954,
+    "Time_Train_Batch": 0.39620232582092285
+}
+
+Epoch 2 Memory Usage: 3000 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:27,  5.69it/s]
  1%|          | 3/500 [00:00<00:43, 11.43it/s]
  1%|1         | 5/500 [00:00<00:34, 14.19it/s]
  1%|1         | 7/500 [00:00<00:31, 15.71it/s]
  2%|1         | 9/500 [00:00<00:29, 16.61it/s]
  2%|2         | 11/500 [00:00<00:28, 17.27it/s]
  3%|2         | 13/500 [00:00<00:27, 17.57it/s]
  3%|3         | 15/500 [00:00<00:27, 17.89it/s]
  3%|3         | 17/500 [00:01<00:26, 18.16it/s]
  4%|3         | 19/500 [00:01<00:26, 18.35it/s]
  4%|4         | 21/500 [00:01<00:26, 18.29it/s]
  5%|4         | 23/500 [00:01<00:26, 18.26it/s]
  5%|5         | 25/500 [00:01<00:26, 18.21it/s]
  5%|5         | 27/500 [00:01<00:25, 18.24it/s]
  6%|5         | 29/500 [00:01<00:25, 18.27it/s]
  6%|6         | 31/500 [00:01<00:25, 18.39it/s]
  7%|6         | 33/500 [00:01<00:25, 18.41it/s]
  7%|7         | 35/500 [00:02<00:25, 18.49it/s]
  7%|7         | 37/500 [00:02<00:24, 18.57it/s]
  8%|7         | 39/500 [00:02<00:24, 18.48it/s]
  8%|8         | 41/500 [00:02<00:24, 18.48it/s]
  9%|8         | 43/500 [00:02<00:24, 18.39it/s]
  9%|9         | 45/500 [00:02<00:24, 18.30it/s]
  9%|9         | 47/500 [00:02<00:24, 18.43it/s]
 10%|9         | 49/500 [00:02<00:24, 18.31it/s]
 10%|#         | 51/500 [00:02<00:24, 18.20it/s]
 11%|#         | 53/500 [00:03<00:24, 18.37it/s]
 11%|#1        | 55/500 [00:03<00:24, 18.16it/s]
 11%|#1        | 57/500 [00:03<00:24, 18.30it/s]
 12%|#1        | 59/500 [00:03<00:24, 18.33it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.37it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.38it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.42it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.40it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.40it/s]
 14%|#4        | 71/500 [00:03<00:23, 18.20it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.32it/s]
 15%|#5        | 75/500 [00:04<00:23, 18.34it/s]
 15%|#5        | 77/500 [00:04<00:23, 18.12it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.34it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.33it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.18it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.23it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.21it/s]
 18%|#7        | 89/500 [00:04<00:22, 18.32it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.43it/s]
 19%|#8        | 93/500 [00:05<00:22, 18.27it/s]
 19%|#9        | 95/500 [00:05<00:22, 18.32it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.41it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.32it/s]
 20%|##        | 101/500 [00:05<00:21, 18.31it/s]
 21%|##        | 103/500 [00:05<00:21, 18.17it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.32it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.34it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.45it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.24it/s]
 23%|##2       | 113/500 [00:06<00:21, 18.40it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.41it/s]
 23%|##3       | 117/500 [00:06<00:21, 18.09it/s]
 24%|##3       | 119/500 [00:06<00:21, 18.09it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.14it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.08it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.15it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.21it/s]
 26%|##5       | 129/500 [00:07<00:20, 18.15it/s]
 26%|##6       | 131/500 [00:07<00:20, 18.15it/s]
 27%|##6       | 133/500 [00:07<00:20, 18.18it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.34it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.26it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.19it/s]
 28%|##8       | 141/500 [00:07<00:20, 17.90it/s]
 29%|##8       | 143/500 [00:07<00:19, 17.98it/s]
 29%|##9       | 145/500 [00:08<00:19, 17.91it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.14it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.27it/s]
 30%|###       | 151/500 [00:08<00:19, 18.35it/s]
 31%|###       | 153/500 [00:08<00:18, 18.47it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.28it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.32it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.43it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.42it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.49it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.49it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.43it/s]
 34%|###3      | 169/500 [00:09<00:18, 18.14it/s]
 34%|###4      | 171/500 [00:09<00:18, 18.27it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.28it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.36it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.15it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.13it/s]
 36%|###6      | 181/500 [00:10<00:17, 18.31it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.30it/s]
 37%|###7      | 185/500 [00:10<00:17, 18.40it/s]
 37%|###7      | 187/500 [00:10<00:17, 18.22it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.33it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.36it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.19it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.29it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.34it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.41it/s]
 40%|####      | 201/500 [00:11<00:16, 18.32it/s]
 41%|####      | 203/500 [00:11<00:16, 18.28it/s]
 41%|####1     | 205/500 [00:11<00:16, 18.36it/s]
 41%|####1     | 207/500 [00:11<00:15, 18.35it/s]
 42%|####1     | 209/500 [00:11<00:15, 18.43it/s]
 42%|####2     | 211/500 [00:11<00:15, 18.51it/s]
 43%|####2     | 213/500 [00:11<00:15, 18.48it/s]
 43%|####3     | 215/500 [00:11<00:15, 18.46it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.44it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.46it/s]
 44%|####4     | 221/500 [00:12<00:15, 18.46it/s]
 45%|####4     | 223/500 [00:12<00:15, 18.29it/s]
 45%|####5     | 225/500 [00:12<00:14, 18.38it/s]
 45%|####5     | 227/500 [00:12<00:14, 18.45it/s]
 46%|####5     | 229/500 [00:12<00:14, 18.43it/s]
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 47%|####6     | 233/500 [00:12<00:14, 18.44it/s]
 47%|####6     | 235/500 [00:12<00:14, 18.51it/s]
 47%|####7     | 237/500 [00:13<00:14, 18.40it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.23it/s]
 48%|####8     | 241/500 [00:13<00:14, 18.10it/s]
 49%|####8     | 243/500 [00:13<00:14, 18.09it/s]
 49%|####9     | 245/500 [00:13<00:13, 18.22it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.29it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.35it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.20it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.21it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.31it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.34it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.34it/s]
 52%|#####2    | 261/500 [00:14<00:13, 18.31it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.41it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.31it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.36it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.38it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.42it/s]
 55%|#####4    | 273/500 [00:15<00:12, 18.30it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.36it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.20it/s]
 56%|#####5    | 279/500 [00:15<00:12, 18.13it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.29it/s]
 57%|#####6    | 283/500 [00:15<00:11, 18.28it/s]
 57%|#####6    | 285/500 [00:15<00:11, 18.40it/s]
 57%|#####7    | 287/500 [00:15<00:11, 18.16it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.16it/s]
 58%|#####8    | 291/500 [00:16<00:11, 18.21it/s]
 59%|#####8    | 293/500 [00:16<00:11, 18.21it/s]
 59%|#####8    | 295/500 [00:16<00:11, 18.31it/s]
 59%|#####9    | 297/500 [00:16<00:11, 18.29it/s]
 60%|#####9    | 299/500 [00:16<00:11, 18.22it/s]
 60%|######    | 301/500 [00:16<00:10, 18.21it/s]
 61%|######    | 303/500 [00:16<00:10, 18.15it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.32it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.28it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.34it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.43it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.30it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.20it/s]
 63%|######3   | 317/500 [00:17<00:10, 18.05it/s]
 64%|######3   | 319/500 [00:17<00:10, 18.07it/s]
 64%|######4   | 321/500 [00:17<00:09, 17.99it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.08it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.21it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.21it/s]
 66%|######5   | 329/500 [00:18<00:09, 18.20it/s]
 66%|######6   | 331/500 [00:18<00:09, 18.07it/s]
 67%|######6   | 333/500 [00:18<00:09, 18.00it/s]
 67%|######7   | 335/500 [00:18<00:09, 18.11it/s]
 67%|######7   | 337/500 [00:18<00:09, 18.11it/s]
 68%|######7   | 339/500 [00:18<00:08, 18.19it/s]
 68%|######8   | 341/500 [00:18<00:08, 18.26it/s]
 69%|######8   | 343/500 [00:18<00:08, 18.31it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.23it/s]
 69%|######9   | 347/500 [00:19<00:08, 18.28it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.27it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.31it/s]
 71%|#######   | 353/500 [00:19<00:08, 17.92it/s]
 71%|#######1  | 355/500 [00:19<00:08, 18.11it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.08it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.08it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.23it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.30it/s]
 73%|#######3  | 365/500 [00:20<00:07, 18.21it/s]
 73%|#######3  | 367/500 [00:20<00:07, 18.09it/s]
 74%|#######3  | 369/500 [00:20<00:07, 18.14it/s]
 74%|#######4  | 371/500 [00:20<00:07, 18.09it/s]
 75%|#######4  | 373/500 [00:20<00:07, 18.00it/s]
 75%|#######5  | 375/500 [00:20<00:06, 18.09it/s]
 75%|#######5  | 377/500 [00:20<00:06, 17.97it/s]
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 76%|#######6  | 381/500 [00:20<00:06, 18.11it/s]
 77%|#######6  | 383/500 [00:21<00:06, 18.20it/s]
 77%|#######7  | 385/500 [00:21<00:06, 18.35it/s]
 77%|#######7  | 387/500 [00:21<00:06, 18.27it/s]
 78%|#######7  | 389/500 [00:21<00:06, 18.27it/s]
 78%|#######8  | 391/500 [00:21<00:05, 18.31it/s]
 79%|#######8  | 393/500 [00:21<00:05, 18.20it/s]
 79%|#######9  | 395/500 [00:21<00:05, 18.25it/s]
 79%|#######9  | 397/500 [00:21<00:05, 18.29it/s]
 80%|#######9  | 399/500 [00:21<00:05, 18.34it/s]
 80%|########  | 401/500 [00:22<00:05, 18.18it/s]
 81%|########  | 403/500 [00:22<00:05, 18.22it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.15it/s]
 81%|########1 | 407/500 [00:22<00:05, 18.21it/s]
 82%|########1 | 409/500 [00:22<00:04, 18.34it/s]
 82%|########2 | 411/500 [00:22<00:04, 18.31it/s]
 83%|########2 | 413/500 [00:22<00:04, 18.36it/s]
 83%|########2 | 415/500 [00:22<00:04, 18.24it/s]
 83%|########3 | 417/500 [00:22<00:04, 18.33it/s]
 84%|########3 | 419/500 [00:23<00:04, 18.37it/s]
 84%|########4 | 421/500 [00:23<00:04, 18.38it/s]
 85%|########4 | 423/500 [00:23<00:04, 18.07it/s]
 85%|########5 | 425/500 [00:23<00:04, 17.99it/s]
 85%|########5 | 427/500 [00:23<00:04, 17.96it/s]
 86%|########5 | 429/500 [00:23<00:03, 18.14it/s]
 86%|########6 | 431/500 [00:23<00:03, 18.15it/s]
 87%|########6 | 433/500 [00:23<00:03, 18.20it/s]
 87%|########7 | 435/500 [00:23<00:03, 18.27it/s]
 87%|########7 | 437/500 [00:24<00:03, 18.40it/s]
 88%|########7 | 439/500 [00:24<00:03, 18.42it/s]
 88%|########8 | 441/500 [00:24<00:03, 18.49it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.31it/s]
 89%|########9 | 445/500 [00:24<00:03, 18.06it/s]
 89%|########9 | 447/500 [00:24<00:02, 17.91it/s]
 90%|########9 | 449/500 [00:24<00:02, 18.08it/s]
 90%|######### | 451/500 [00:24<00:02, 18.11it/s]
 91%|######### | 453/500 [00:24<00:02, 18.24it/s]
 91%|#########1| 455/500 [00:25<00:02, 18.19it/s]
 91%|#########1| 457/500 [00:25<00:02, 18.10it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.21it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.33it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.37it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.40it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.31it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.27it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.35it/s]
 95%|#########4| 473/500 [00:26<00:01, 18.22it/s]
 95%|#########5| 475/500 [00:26<00:01, 18.36it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.32it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.22it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.02it/s]
 97%|#########6| 483/500 [00:26<00:00, 17.90it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.08it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.15it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.13it/s]
 98%|#########8| 491/500 [00:27<00:00, 18.23it/s]
 99%|#########8| 493/500 [00:27<00:00, 18.30it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.40it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.24it/s]
100%|#########9| 499/500 [00:27<00:00, 18.32it/s]
100%|##########| 500/500 [00:27<00:00, 18.18it/s]
+Train Epoch 3
+{
+    "Log_Likelihood": 14.512845151901246,
+    "Loss": -14.512845151901246,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 76349.93852805965,
+    "Time_Data_Loading": 0.022678534189860027,
+    "Time_Epoch": 0.46092772086461387,
+    "Time_Log_Info": 0.010014704863230387,
+    "Time_Process_Batch": 0.02462631861368815,
+    "Time_Train_Batch": 0.40037781397501626
+}
+
+Epoch 3 Memory Usage: 3002 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:36,  5.16it/s]
  1%|          | 3/500 [00:00<00:44, 11.14it/s]
  1%|1         | 5/500 [00:00<00:35, 13.88it/s]
  1%|1         | 7/500 [00:00<00:32, 15.37it/s]
  2%|1         | 9/500 [00:00<00:30, 16.32it/s]
  2%|2         | 11/500 [00:00<00:28, 17.05it/s]
  3%|2         | 13/500 [00:00<00:28, 17.39it/s]
  3%|3         | 15/500 [00:00<00:27, 17.72it/s]
  3%|3         | 17/500 [00:01<00:27, 17.89it/s]
  4%|3         | 19/500 [00:01<00:26, 18.03it/s]
  4%|4         | 21/500 [00:01<00:26, 18.23it/s]
  5%|4         | 23/500 [00:01<00:26, 18.30it/s]
  5%|5         | 25/500 [00:01<00:25, 18.39it/s]
  5%|5         | 27/500 [00:01<00:25, 18.42it/s]
  6%|5         | 29/500 [00:01<00:25, 18.49it/s]
  6%|6         | 31/500 [00:01<00:25, 18.30it/s]
  7%|6         | 33/500 [00:01<00:25, 18.31it/s]
  7%|7         | 35/500 [00:02<00:25, 18.33it/s]
  7%|7         | 37/500 [00:02<00:25, 18.42it/s]
  8%|7         | 39/500 [00:02<00:24, 18.45it/s]
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 10%|9         | 49/500 [00:02<00:24, 18.35it/s]
 10%|#         | 51/500 [00:02<00:24, 18.41it/s]
 11%|#         | 53/500 [00:03<00:24, 18.40it/s]
 11%|#1        | 55/500 [00:03<00:24, 18.41it/s]
 11%|#1        | 57/500 [00:03<00:24, 18.41it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.53it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.48it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.55it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.52it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.50it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.50it/s]
 14%|#4        | 71/500 [00:03<00:23, 18.49it/s]
 15%|#4        | 73/500 [00:04<00:22, 18.60it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.53it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.50it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.55it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.43it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.31it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.15it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.08it/s]
 18%|#7        | 89/500 [00:04<00:22, 18.02it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.11it/s]
 19%|#8        | 93/500 [00:05<00:22, 18.08it/s]
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 20%|#9        | 99/500 [00:05<00:21, 18.31it/s]
 20%|##        | 101/500 [00:05<00:21, 18.32it/s]
 21%|##        | 103/500 [00:05<00:21, 18.43it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.39it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.45it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.49it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.15it/s]
 23%|##2       | 113/500 [00:06<00:21, 18.09it/s]
 23%|##3       | 115/500 [00:06<00:21, 18.17it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.30it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.43it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.44it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.44it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.31it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.30it/s]
 26%|##5       | 129/500 [00:07<00:20, 18.34it/s]
 26%|##6       | 131/500 [00:07<00:20, 18.24it/s]
 27%|##6       | 133/500 [00:07<00:20, 18.33it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.36it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.47it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.42it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.47it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.45it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.49it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.51it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.53it/s]
 30%|###       | 151/500 [00:08<00:18, 18.49it/s]
 31%|###       | 153/500 [00:08<00:18, 18.54it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.57it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.34it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.36it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.43it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.42it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.33it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.22it/s]
 34%|###3      | 169/500 [00:09<00:18, 18.36it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.38it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.38it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.40it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.50it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.50it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.52it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.48it/s]
 37%|###7      | 185/500 [00:10<00:17, 18.45it/s]
 37%|###7      | 187/500 [00:10<00:17, 18.39it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.39it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.40it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.39it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.40it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.42it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.43it/s]
 40%|####      | 201/500 [00:11<00:16, 18.46it/s]
 41%|####      | 203/500 [00:11<00:16, 18.40it/s]
 41%|####1     | 205/500 [00:11<00:16, 18.35it/s]
 41%|####1     | 207/500 [00:11<00:15, 18.36it/s]
 42%|####1     | 209/500 [00:11<00:15, 18.37it/s]
 42%|####2     | 211/500 [00:11<00:15, 18.47it/s]
 43%|####2     | 213/500 [00:11<00:15, 18.51it/s]
 43%|####3     | 215/500 [00:11<00:15, 18.49it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.55it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.47it/s]
 44%|####4     | 221/500 [00:12<00:15, 18.48it/s]
 45%|####4     | 223/500 [00:12<00:15, 18.47it/s]
 45%|####5     | 225/500 [00:12<00:14, 18.51it/s]
 45%|####5     | 227/500 [00:12<00:14, 18.48it/s]
 46%|####5     | 229/500 [00:12<00:14, 18.57it/s]
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 47%|####6     | 233/500 [00:12<00:14, 18.56it/s]
 47%|####6     | 235/500 [00:12<00:14, 18.53it/s]
 47%|####7     | 237/500 [00:13<00:14, 18.54it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.53it/s]
 48%|####8     | 241/500 [00:13<00:14, 18.36it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.36it/s]
 49%|####9     | 245/500 [00:13<00:13, 18.25it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.35it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.48it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.18it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.18it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.20it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.12it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.17it/s]
 52%|#####2    | 261/500 [00:14<00:13, 18.22it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.39it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.28it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.36it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.42it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.42it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.48it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.42it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.50it/s]
 56%|#####5    | 279/500 [00:15<00:12, 18.25it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.38it/s]
 57%|#####6    | 283/500 [00:15<00:11, 18.39it/s]
 57%|#####6    | 285/500 [00:15<00:11, 18.44it/s]
 57%|#####7    | 287/500 [00:15<00:11, 18.47it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.42it/s]
 58%|#####8    | 291/500 [00:15<00:11, 18.33it/s]
 59%|#####8    | 293/500 [00:16<00:11, 18.12it/s]
 59%|#####8    | 295/500 [00:16<00:11, 17.84it/s]
 59%|#####9    | 297/500 [00:16<00:11, 18.04it/s]
 60%|#####9    | 299/500 [00:16<00:11, 18.12it/s]
 60%|######    | 301/500 [00:16<00:10, 18.18it/s]
 61%|######    | 303/500 [00:16<00:10, 18.28it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.37it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.46it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.50it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.58it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.50it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.55it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.56it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.61it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.57it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.62it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.59it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.64it/s]
 66%|######5   | 329/500 [00:18<00:09, 18.63it/s]
 66%|######6   | 331/500 [00:18<00:09, 18.58it/s]
 67%|######6   | 333/500 [00:18<00:08, 18.62it/s]
 67%|######7   | 335/500 [00:18<00:08, 18.57it/s]
 67%|######7   | 337/500 [00:18<00:08, 18.58it/s]
 68%|######7   | 339/500 [00:18<00:08, 18.49it/s]
 68%|######8   | 341/500 [00:18<00:08, 18.57it/s]
 69%|######8   | 343/500 [00:18<00:08, 18.52it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.60it/s]
 69%|######9   | 347/500 [00:18<00:08, 18.49it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.54it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.45it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.44it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.25it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.27it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.17it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.30it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.35it/s]
 73%|#######3  | 365/500 [00:19<00:07, 18.41it/s]
 73%|#######3  | 367/500 [00:20<00:07, 18.48it/s]
 74%|#######3  | 369/500 [00:20<00:07, 18.53it/s]
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 75%|#######5  | 377/500 [00:20<00:06, 18.50it/s]
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 78%|#######8  | 391/500 [00:21<00:05, 18.39it/s]
 79%|#######8  | 393/500 [00:21<00:05, 18.28it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.26it/s]
 81%|########  | 403/500 [00:22<00:05, 18.37it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.41it/s]
 81%|########1 | 407/500 [00:22<00:05, 18.42it/s]
 82%|########1 | 409/500 [00:22<00:04, 18.40it/s]
 82%|########2 | 411/500 [00:22<00:04, 18.44it/s]
 83%|########2 | 413/500 [00:22<00:04, 18.23it/s]
 83%|########2 | 415/500 [00:22<00:04, 18.26it/s]
 83%|########3 | 417/500 [00:22<00:04, 18.21it/s]
 84%|########3 | 419/500 [00:22<00:04, 18.12it/s]
 84%|########4 | 421/500 [00:23<00:04, 18.01it/s]
 85%|########4 | 423/500 [00:23<00:04, 18.21it/s]
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 86%|########5 | 429/500 [00:23<00:03, 18.12it/s]
 86%|########6 | 431/500 [00:23<00:03, 18.17it/s]
 87%|########6 | 433/500 [00:23<00:03, 18.17it/s]
 87%|########7 | 435/500 [00:23<00:03, 18.25it/s]
 87%|########7 | 437/500 [00:23<00:03, 18.40it/s]
 88%|########7 | 439/500 [00:24<00:03, 18.42it/s]
 88%|########8 | 441/500 [00:24<00:03, 18.29it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.30it/s]
 89%|########9 | 445/500 [00:24<00:02, 18.36it/s]
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 90%|########9 | 449/500 [00:24<00:02, 18.45it/s]
 90%|######### | 451/500 [00:24<00:02, 18.43it/s]
 91%|######### | 453/500 [00:24<00:02, 18.53it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.52it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.46it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.37it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.39it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.41it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.42it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.42it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.50it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.18it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.25it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.31it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.30it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.37it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.35it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.37it/s]
 97%|#########7| 485/500 [00:26<00:00, 17.91it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.01it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.18it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.26it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.39it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.33it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.40it/s]
100%|#########9| 499/500 [00:27<00:00, 18.33it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
+Train Epoch 4
+{
+    "Log_Likelihood": 14.631929767608643,
+    "Loss": -14.631929767608643,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 73866.64221527163,
+    "Time_Data_Loading": 0.022771286964416503,
+    "Time_Epoch": 0.45850958824157717,
+    "Time_Log_Info": 0.01020828088124593,
+    "Time_Process_Batch": 0.023753798007965087,
+    "Time_Train_Batch": 0.3985410451889038
+}
+
+Epoch 4 Memory Usage: 3006 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:40,  4.94it/s]
  1%|          | 3/500 [00:00<00:45, 10.97it/s]
  1%|1         | 5/500 [00:00<00:36, 13.60it/s]
  1%|1         | 7/500 [00:00<00:31, 15.42it/s]
  2%|1         | 9/500 [00:00<00:29, 16.48it/s]
  2%|2         | 11/500 [00:00<00:28, 17.21it/s]
  3%|2         | 13/500 [00:00<00:27, 17.49it/s]
  3%|3         | 15/500 [00:00<00:27, 17.89it/s]
  3%|3         | 17/500 [00:01<00:26, 17.99it/s]
  4%|3         | 19/500 [00:01<00:26, 18.18it/s]
  4%|4         | 21/500 [00:01<00:26, 18.35it/s]
  5%|4         | 23/500 [00:01<00:25, 18.35it/s]
  5%|5         | 25/500 [00:01<00:25, 18.45it/s]
  5%|5         | 27/500 [00:01<00:25, 18.45it/s]
  6%|5         | 29/500 [00:01<00:25, 18.36it/s]
  6%|6         | 31/500 [00:01<00:25, 18.44it/s]
  7%|6         | 33/500 [00:01<00:25, 18.49it/s]
  7%|7         | 35/500 [00:02<00:25, 18.53it/s]
  7%|7         | 37/500 [00:02<00:24, 18.56it/s]
  8%|7         | 39/500 [00:02<00:24, 18.50it/s]
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 10%|9         | 49/500 [00:02<00:24, 18.47it/s]
 10%|#         | 51/500 [00:02<00:24, 18.45it/s]
 11%|#         | 53/500 [00:03<00:24, 18.52it/s]
 11%|#1        | 55/500 [00:03<00:24, 18.49it/s]
 11%|#1        | 57/500 [00:03<00:23, 18.51it/s]
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 13%|#3        | 67/500 [00:03<00:23, 18.62it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.54it/s]
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 15%|#4        | 73/500 [00:04<00:23, 18.52it/s]
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 16%|#5        | 79/500 [00:04<00:22, 18.55it/s]
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 17%|#6        | 83/500 [00:04<00:22, 18.61it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.55it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.50it/s]
 18%|#7        | 89/500 [00:04<00:22, 18.48it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.48it/s]
 21%|##        | 103/500 [00:05<00:21, 18.39it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.34it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.43it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.36it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.47it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.47it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.56it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.54it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.59it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.63it/s]
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 25%|##5       | 125/500 [00:06<00:20, 18.58it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.60it/s]
 26%|##5       | 129/500 [00:07<00:19, 18.61it/s]
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 33%|###2      | 163/500 [00:08<00:18, 18.18it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.40it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.47it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.47it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.47it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.45it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.35it/s]
 52%|#####2    | 261/500 [00:14<00:13, 18.38it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.38it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.35it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.39it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.41it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.46it/s]
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 56%|#####5    | 279/500 [00:15<00:12, 18.33it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.37it/s]
 57%|#####6    | 283/500 [00:15<00:11, 18.32it/s]
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 57%|#####7    | 287/500 [00:15<00:11, 18.33it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.40it/s]
 58%|#####8    | 291/500 [00:15<00:11, 18.36it/s]
 59%|#####8    | 293/500 [00:16<00:11, 18.39it/s]
 59%|#####8    | 295/500 [00:16<00:11, 18.28it/s]
 59%|#####9    | 297/500 [00:16<00:11, 18.32it/s]
 60%|#####9    | 299/500 [00:16<00:11, 18.09it/s]
 60%|######    | 301/500 [00:16<00:10, 18.18it/s]
 61%|######    | 303/500 [00:16<00:10, 18.32it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.26it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.37it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.33it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.46it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.40it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.45it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.38it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.51it/s]
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 65%|######4   | 323/500 [00:17<00:09, 18.50it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.44it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.42it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.35it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.35it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.28it/s]
 71%|#######1  | 355/500 [00:19<00:08, 18.02it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.07it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.24it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.40it/s]
 81%|########  | 403/500 [00:22<00:05, 18.49it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.32it/s]
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 83%|########2 | 415/500 [00:22<00:04, 18.31it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.04it/s]
 91%|######### | 453/500 [00:24<00:02, 18.14it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.26it/s]
 91%|#########1| 457/500 [00:25<00:02, 18.38it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.46it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.42it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.38it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.45it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.39it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.38it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.26it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.29it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.44it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.44it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.47it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.25it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.37it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.36it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.26it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.31it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.41it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.27it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.03it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.16it/s]
100%|#########9| 499/500 [00:27<00:00, 18.18it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
+Train Epoch 5
+{
+    "Log_Likelihood": 14.714846040725709,
+    "Loss": -14.714846040725709,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 70555.92955734854,
+    "Time_Data_Loading": 0.02248983383178711,
+    "Time_Epoch": 0.458638060092926,
+    "Time_Log_Info": 0.010241500536600749,
+    "Time_Process_Batch": 0.02350918451944987,
+    "Time_Train_Batch": 0.3991804679234823
+}
+
+Epoch 5 Memory Usage: 3009 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:39,  5.01it/s]
  1%|          | 3/500 [00:00<00:45, 10.82it/s]
  1%|1         | 5/500 [00:00<00:36, 13.66it/s]
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 29%|##9       | 147/500 [00:08<00:19, 18.48it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.42it/s]
 30%|###       | 151/500 [00:08<00:18, 18.46it/s]
 31%|###       | 153/500 [00:08<00:18, 18.40it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.50it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.47it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.56it/s]
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 33%|###2      | 163/500 [00:08<00:18, 18.55it/s]
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 34%|###4      | 171/500 [00:09<00:17, 18.45it/s]
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 38%|###7      | 189/500 [00:10<00:16, 18.53it/s]
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 51%|#####1    | 255/500 [00:13<00:13, 18.43it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.36it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.46it/s]
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 91%|######### | 453/500 [00:24<00:02, 18.22it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.27it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.35it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.43it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.50it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.56it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.56it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.55it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.52it/s]
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 95%|#########5| 477/500 [00:26<00:01, 18.24it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.26it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.35it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.32it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.43it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.48it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.48it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.52it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.32it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.29it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
+Train Epoch 6
+{
+    "Log_Likelihood": 14.713277603149415,
+    "Loss": -14.713277603149415,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 69890.34212982723,
+    "Time_Data_Loading": 0.02228202819824219,
+    "Time_Epoch": 0.45760727326075235,
+    "Time_Log_Info": 0.010271855195363363,
+    "Time_Process_Batch": 0.02325191895167033,
+    "Time_Train_Batch": 0.3986651142438253
+}
+
+Epoch 6 Memory Usage: 3010 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.41it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.46it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
+Train Epoch 7
+{
+    "Log_Likelihood": 14.963988422393799,
+    "Loss": -14.963988422393799,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 71181.4644775367,
+    "Time_Data_Loading": 0.022249627113342284,
+    "Time_Epoch": 0.4575774153073629,
+    "Time_Log_Info": 0.010264718532562256,
+    "Time_Process_Batch": 0.023564390341440835,
+    "Time_Train_Batch": 0.3982705116271973
+}
+
+Epoch 7 Memory Usage: 3010 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 8
+{
+    "Log_Likelihood": 15.322701532363892,
+    "Loss": -15.322701532363892,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 75536.82178417056,
+    "Time_Data_Loading": 0.02224882443745931,
+    "Time_Epoch": 0.45701526006062826,
+    "Time_Log_Info": 0.010283005237579346,
+    "Time_Process_Batch": 0.02308573325475057,
+    "Time_Train_Batch": 0.39808940490086875
+}
+
+Epoch 8 Memory Usage: 3010 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 9
+{
+    "Log_Likelihood": 15.67684063911438,
+    "Loss": -15.67684063911438,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 75003.60818968386,
+    "Time_Data_Loading": 0.02172435522079468,
+    "Time_Epoch": 0.45613879362742105,
+    "Time_Log_Info": 0.01027821699778239,
+    "Time_Process_Batch": 0.022727719942728677,
+    "Time_Train_Batch": 0.39812813997268676
+}
+
+Epoch 9 Memory Usage: 3010 MB
+
+
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 88%|########8 | 441/500 [00:24<00:03, 18.49it/s]
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 90%|########9 | 449/500 [00:24<00:02, 18.39it/s]
 90%|######### | 451/500 [00:24<00:02, 18.38it/s]
 91%|######### | 453/500 [00:24<00:02, 18.29it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.30it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.40it/s]
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 93%|#########3| 467/500 [00:25<00:01, 18.43it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.46it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.38it/s]
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 95%|#########5| 475/500 [00:25<00:01, 18.37it/s]
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 96%|#########6| 481/500 [00:26<00:01, 18.47it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.42it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.50it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.43it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.46it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.44it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.49it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.42it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.52it/s]
100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 10
+{
+    "Log_Likelihood": 15.955526260375976,
+    "Loss": -15.955526260375976,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 78709.78257392398,
+    "Time_Data_Loading": 0.021997296810150148,
+    "Time_Epoch": 0.45709341764450073,
+    "Time_Log_Info": 0.010176726182301839,
+    "Time_Process_Batch": 0.02320907115936279,
+    "Time_Train_Batch": 0.39844322204589844
+}
+
+Epoch 10 Memory Usage: 3011 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:33,  5.36it/s]
  1%|          | 3/500 [00:00<00:44, 11.12it/s]
  1%|1         | 5/500 [00:00<00:35, 14.02it/s]
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 11%|#1        | 55/500 [00:03<00:24, 18.50it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.62it/s]
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 13%|#3        | 67/500 [00:03<00:23, 18.51it/s]
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 16%|#5        | 79/500 [00:04<00:22, 18.58it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.36it/s]
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 22%|##2       | 111/500 [00:06<00:21, 18.43it/s]
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 23%|##3       | 117/500 [00:06<00:20, 18.31it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.36it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.35it/s]
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 30%|###       | 151/500 [00:08<00:19, 18.33it/s]
 31%|###       | 153/500 [00:08<00:19, 18.24it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.22it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.46it/s]
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 51%|#####1    | 255/500 [00:13<00:13, 18.41it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.41it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.16it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.32it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.27it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.37it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.26it/s]
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 81%|########1 | 405/500 [00:22<00:05, 18.42it/s]
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 88%|########8 | 441/500 [00:24<00:03, 18.22it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.34it/s]
 89%|########9 | 445/500 [00:24<00:02, 18.35it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.47it/s]
 91%|######### | 453/500 [00:24<00:02, 18.55it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.50it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.54it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.48it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.53it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.43it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.50it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.44it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.54it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.48it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.54it/s]
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 96%|#########5| 479/500 [00:26<00:01, 18.49it/s]
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 97%|#########6| 483/500 [00:26<00:00, 18.59it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.56it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.19it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
+Train Epoch 11
+{
+    "Log_Likelihood": 16.20697290992737,
+    "Loss": -16.20697290992737,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 77909.11802189279,
+    "Time_Data_Loading": 0.02219854195912679,
+    "Time_Epoch": 0.457526171207428,
+    "Time_Log_Info": 0.010214543342590332,
+    "Time_Process_Batch": 0.023191702365875245,
+    "Time_Train_Batch": 0.3987335125605265
+}
+
+Epoch 11 Memory Usage: 3012 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.26it/s]
100%|##########| 500/500 [00:27<00:00, 18.20it/s]
+Train Epoch 12
+{
+    "Log_Likelihood": 16.38316276741028,
+    "Loss": -16.38316276741028,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 74366.0703413938,
+    "Time_Data_Loading": 0.02254401445388794,
+    "Time_Epoch": 0.4607890566190084,
+    "Time_Log_Info": 0.010055712858835856,
+    "Time_Process_Batch": 0.024359452724456786,
+    "Time_Train_Batch": 0.4004177967707316
+}
+
+Epoch 12 Memory Usage: 3012 MB
+
+
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 10%|#         | 51/500 [00:02<00:24, 18.46it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.53it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.54it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.52it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.34it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.36it/s]
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 15%|#4        | 73/500 [00:04<00:23, 18.45it/s]
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 15%|#5        | 77/500 [00:04<00:22, 18.60it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.48it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.54it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.45it/s]
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 17%|#7        | 87/500 [00:04<00:22, 18.41it/s]
 18%|#7        | 89/500 [00:04<00:22, 18.52it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.47it/s]
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 23%|##3       | 115/500 [00:06<00:20, 18.37it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.49it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.45it/s]
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 27%|##7       | 137/500 [00:07<00:19, 18.36it/s]
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 28%|##8       | 141/500 [00:07<00:19, 18.35it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.43it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.37it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.47it/s]
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 30%|###       | 151/500 [00:08<00:19, 18.23it/s]
 31%|###       | 153/500 [00:08<00:18, 18.30it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.25it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.41it/s]
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 33%|###2      | 163/500 [00:08<00:18, 18.21it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.33it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.16it/s]
 34%|###3      | 169/500 [00:09<00:18, 18.20it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.29it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.26it/s]
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 36%|###6      | 181/500 [00:09<00:17, 18.21it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.00it/s]
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 37%|###7      | 187/500 [00:10<00:17, 18.22it/s]
 38%|###7      | 189/500 [00:10<00:17, 18.18it/s]
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 48%|####7     | 239/500 [00:13<00:14, 18.33it/s]
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 49%|####8     | 243/500 [00:13<00:13, 18.42it/s]
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 49%|####9     | 247/500 [00:13<00:13, 18.52it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.45it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.41it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.44it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.43it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.43it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.52it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.51it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.52it/s]
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 53%|#####3    | 267/500 [00:14<00:12, 18.43it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.39it/s]
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 55%|#####4    | 273/500 [00:14<00:12, 18.32it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.30it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.36it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.42it/s]
 61%|######    | 303/500 [00:16<00:10, 18.44it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.51it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.52it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.55it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.53it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.52it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.57it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.46it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.53it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.52it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.55it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.52it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.55it/s]
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 81%|########  | 403/500 [00:22<00:05, 18.47it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.51it/s]
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 83%|########2 | 415/500 [00:22<00:04, 18.58it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.47it/s]
 91%|######### | 453/500 [00:24<00:02, 18.51it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.41it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.35it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.35it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.44it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.48it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.55it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.55it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.55it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.45it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.42it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.47it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.46it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.44it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.56it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.52it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.53it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.53it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.46it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.52it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.52it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.55it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.50it/s]
100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 13
+{
+    "Log_Likelihood": 16.50519757652283,
+    "Loss": -16.50519757652283,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 80906.7784101187,
+    "Time_Data_Loading": 0.02140397628148397,
+    "Time_Epoch": 0.4571874221165975,
+    "Time_Log_Info": 0.010230894883473713,
+    "Time_Process_Batch": 0.02310859759648641,
+    "Time_Train_Batch": 0.3992823600769043
+}
+
+Epoch 13 Memory Usage: 3012 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:37,  5.13it/s]
  1%|          | 3/500 [00:00<00:46, 10.79it/s]
  1%|1         | 5/500 [00:00<00:35, 13.79it/s]
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  2%|1         | 9/500 [00:00<00:30, 16.30it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.39it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 14
+{
+    "Log_Likelihood": 16.59806336593628,
+    "Loss": -16.59806336593628,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 74098.59523303312,
+    "Time_Data_Loading": 0.0222685178120931,
+    "Time_Epoch": 0.4569772402445475,
+    "Time_Log_Info": 0.01026449203491211,
+    "Time_Process_Batch": 0.022981695334116616,
+    "Time_Train_Batch": 0.3982459823290507
+}
+
+Epoch 14 Memory Usage: 3013 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 15
+{
+    "Log_Likelihood": 16.699538944244384,
+    "Loss": -16.699538944244384,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 79125.6814345405,
+    "Time_Data_Loading": 0.021701908111572264,
+    "Time_Epoch": 0.45479384263356526,
+    "Time_Log_Info": 0.010277656714121501,
+    "Time_Process_Batch": 0.022445988655090333,
+    "Time_Train_Batch": 0.39717076619466146
+}
+
+Epoch 15 Memory Usage: 3013 MB
+
+
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 91%|######### | 453/500 [00:24<00:02, 18.38it/s]
 91%|#########1| 455/500 [00:25<00:02, 18.44it/s]
 91%|#########1| 457/500 [00:25<00:02, 18.48it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.47it/s]
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 96%|#########6| 481/500 [00:26<00:01, 18.38it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.41it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.41it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.48it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.56it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.41it/s]
 99%|#########8| 493/500 [00:27<00:00, 18.42it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.49it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.21it/s]
+Train Epoch 16
+{
+    "Log_Likelihood": 16.72984614944458,
+    "Loss": -16.72984614944458,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 78885.74706032565,
+    "Time_Data_Loading": 0.022811325391133626,
+    "Time_Epoch": 0.4602828701337179,
+    "Time_Log_Info": 0.010128458340962728,
+    "Time_Process_Batch": 0.024137496948242188,
+    "Time_Train_Batch": 0.39988407691319783
+}
+
+Epoch 16 Memory Usage: 3014 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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 96%|#########6| 481/500 [00:26<00:01, 18.26it/s]
 97%|#########6| 483/500 [00:26<00:00, 17.99it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.05it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.25it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.11it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.20it/s]
 99%|#########8| 493/500 [00:27<00:00, 18.29it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.24it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.31it/s]
100%|#########9| 499/500 [00:27<00:00, 18.15it/s]
100%|##########| 500/500 [00:27<00:00, 18.18it/s]
+Train Epoch 17
+{
+    "Log_Likelihood": 16.83359714317322,
+    "Loss": -16.83359714317322,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 77926.06290764343,
+    "Time_Data_Loading": 0.02255729039510091,
+    "Time_Epoch": 0.46112464666366576,
+    "Time_Log_Info": 0.010076439380645752,
+    "Time_Process_Batch": 0.02426366408665975,
+    "Time_Train_Batch": 0.4008068044980367
+}
+
+Epoch 17 Memory Usage: 3014 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.29it/s]
+Train Epoch 18
+{
+    "Log_Likelihood": 16.871400196075438,
+    "Loss": -16.871400196075438,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82816.89378558718,
+    "Time_Data_Loading": 0.02248628536860148,
+    "Time_Epoch": 0.45844691594441733,
+    "Time_Log_Info": 0.010157509644826253,
+    "Time_Process_Batch": 0.02341196934382121,
+    "Time_Train_Batch": 0.3990584452946981
+}
+
+Epoch 18 Memory Usage: 3014 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 19
+{
+    "Log_Likelihood": 16.882732236862182,
+    "Loss": -16.882732236862182,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82888.73586614623,
+    "Time_Data_Loading": 0.022275265057881674,
+    "Time_Epoch": 0.4570641716321309,
+    "Time_Log_Info": 0.01024927298227946,
+    "Time_Process_Batch": 0.023182968298594158,
+    "Time_Train_Batch": 0.3981131831804911
+}
+
+Epoch 19 Memory Usage: 3015 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.36it/s]
+Train Epoch 20
+{
+    "Log_Likelihood": 16.97810195732117,
+    "Loss": -16.97810195732117,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 80285.85231745784,
+    "Time_Data_Loading": 0.02182722886403402,
+    "Time_Epoch": 0.45654674371083576,
+    "Time_Log_Info": 0.010259906450907389,
+    "Time_Process_Batch": 0.022833371162414552,
+    "Time_Train_Batch": 0.39840246438980104
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_20.pth
+
+Epoch 20 Memory Usage: 3023 MB
+
+
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+Train Epoch 21
+{
+    "Log_Likelihood": 17.002343933105468,
+    "Loss": -17.002343933105468,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 73915.7912025162,
+    "Time_Data_Loading": 0.02207250197728475,
+    "Time_Epoch": 0.4566716035207113,
+    "Time_Log_Info": 0.010270190238952637,
+    "Time_Process_Batch": 0.02288942734400431,
+    "Time_Train_Batch": 0.3982446829477946
+}
+
+Epoch 21 Memory Usage: 3025 MB
+
+
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  5%|4         | 23/500 [00:01<00:25, 18.49it/s]
  5%|5         | 25/500 [00:01<00:25, 18.47it/s]
  5%|5         | 27/500 [00:01<00:25, 18.54it/s]
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  6%|6         | 31/500 [00:01<00:25, 18.44it/s]
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 13%|#3        | 65/500 [00:03<00:23, 18.30it/s]
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 14%|#3        | 69/500 [00:03<00:23, 18.48it/s]
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 29%|##8       | 143/500 [00:07<00:19, 18.53it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.41it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.47it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.47it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.26it/s]
 33%|###2      | 163/500 [00:08<00:18, 18.28it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.21it/s]
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 34%|###3      | 169/500 [00:09<00:18, 18.20it/s]
 34%|###4      | 171/500 [00:09<00:18, 18.14it/s]
 35%|###4      | 173/500 [00:09<00:18, 18.04it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.27it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.35it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.37it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.44it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.51it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.60it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.45it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.54it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.60it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.59it/s]
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 91%|######### | 453/500 [00:24<00:02, 18.46it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.52it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.50it/s]
 92%|#########1| 459/500 [00:24<00:02, 18.56it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.54it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.57it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.53it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.51it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.48it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.53it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.60it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.56it/s]
 95%|#########5| 477/500 [00:25<00:01, 18.58it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.48it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.51it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.47it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.55it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.53it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.55it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.40it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.48it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.40it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.33it/s]
100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 22
+{
+    "Log_Likelihood": 17.08403441429138,
+    "Loss": -17.08403441429138,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 79536.60657466315,
+    "Time_Data_Loading": 0.021703124046325684,
+    "Time_Epoch": 0.4556107401847839,
+    "Time_Log_Info": 0.010234745343526204,
+    "Time_Process_Batch": 0.022655399640401204,
+    "Time_Train_Batch": 0.39785854816436766
+}
+
+Epoch 22 Memory Usage: 3025 MB
+
+
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 16%|#6        | 81/500 [00:04<00:22, 18.32it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.40it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.60it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.67it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.68it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.53it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.50it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.57it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.56it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 23
+{
+    "Log_Likelihood": 17.082024951934816,
+    "Loss": -17.082024951934816,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 79036.4164171572,
+    "Time_Data_Loading": 0.021236964066823325,
+    "Time_Epoch": 0.4555955012639364,
+    "Time_Log_Info": 0.010280863444010416,
+    "Time_Process_Batch": 0.022512511412302653,
+    "Time_Train_Batch": 0.3981027126312256
+}
+
+Epoch 23 Memory Usage: 3025 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 24
+{
+    "Log_Likelihood": 17.068606225967407,
+    "Loss": -17.068606225967407,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84452.27761567532,
+    "Time_Data_Loading": 0.021562580267588297,
+    "Time_Epoch": 0.4559184670448303,
+    "Time_Log_Info": 0.010202503204345703,
+    "Time_Process_Batch": 0.022743006547292072,
+    "Time_Train_Batch": 0.39799940983454385
+}
+
+Epoch 24 Memory Usage: 3026 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.55it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 25
+{
+    "Log_Likelihood": 17.155544147491455,
+    "Loss": -17.155544147491455,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 78500.12183318615,
+    "Time_Data_Loading": 0.02207787036895752,
+    "Time_Epoch": 0.45599161386489867,
+    "Time_Log_Info": 0.010260649522145589,
+    "Time_Process_Batch": 0.022888545195261636,
+    "Time_Train_Batch": 0.39755814472834267
+}
+
+Epoch 25 Memory Usage: 3025 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 26
+{
+    "Log_Likelihood": 17.21737210845947,
+    "Loss": -17.21737210845947,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85345.07711362005,
+    "Time_Data_Loading": 0.02216085195541382,
+    "Time_Epoch": 0.45668254693349203,
+    "Time_Log_Info": 0.010231320063273113,
+    "Time_Process_Batch": 0.022867647806803386,
+    "Time_Train_Batch": 0.39822099208831785
+}
+
+Epoch 26 Memory Usage: 3026 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 17.91it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 27
+{
+    "Log_Likelihood": 17.262918054580688,
+    "Loss": -17.262918054580688,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85583.88247618337,
+    "Time_Data_Loading": 0.02215421199798584,
+    "Time_Epoch": 0.45718034903208415,
+    "Time_Log_Info": 0.010194925467173259,
+    "Time_Process_Batch": 0.023379345734914143,
+    "Time_Train_Batch": 0.3982123335202535
+}
+
+Epoch 27 Memory Usage: 3026 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.31it/s]
100%|##########| 500/500 [00:27<00:00, 18.26it/s]
+Train Epoch 28
+{
+    "Log_Likelihood": 17.287671421051026,
+    "Loss": -17.287671421051026,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 78592.17172870004,
+    "Time_Data_Loading": 0.02243756055831909,
+    "Time_Epoch": 0.45907405217488606,
+    "Time_Log_Info": 0.010115528106689453,
+    "Time_Process_Batch": 0.02409890095392863,
+    "Time_Train_Batch": 0.399124014377594
+}
+
+Epoch 28 Memory Usage: 3026 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.42it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 29
+{
+    "Log_Likelihood": 17.2546706161499,
+    "Loss": -17.2546706161499,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82656.46173894632,
+    "Time_Data_Loading": 0.02212260166803996,
+    "Time_Epoch": 0.4571413993835449,
+    "Time_Log_Info": 0.010241075356801351,
+    "Time_Process_Batch": 0.02294708490371704,
+    "Time_Train_Batch": 0.3985749165217082
+}
+
+Epoch 29 Memory Usage: 3026 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 30
+{
+    "Log_Likelihood": 17.311870988845826,
+    "Loss": -17.311870988845826,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88211.13073475269,
+    "Time_Data_Loading": 0.021446728706359865,
+    "Time_Epoch": 0.45584839979807534,
+    "Time_Log_Info": 0.010244051615397135,
+    "Time_Process_Batch": 0.022776993115743,
+    "Time_Train_Batch": 0.39815327326456706
+}
+
+Epoch 30 Memory Usage: 3027 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.55it/s]
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 33%|###2      | 163/500 [00:08<00:18, 18.57it/s]
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 34%|###4      | 171/500 [00:09<00:17, 18.57it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.43it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.34it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.41it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.62it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.66it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.59it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.59it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.43it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.41it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.33it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.39it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.66it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.67it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 31
+{
+    "Log_Likelihood": 17.36631831741333,
+    "Loss": -17.36631831741333,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83131.68755937308,
+    "Time_Data_Loading": 0.021004772186279295,
+    "Time_Epoch": 0.45453659693400067,
+    "Time_Log_Info": 0.010254744688669841,
+    "Time_Process_Batch": 0.02218381961186727,
+    "Time_Train_Batch": 0.39780863920847576
+}
+
+Epoch 31 Memory Usage: 3027 MB
+
+
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 12%|#2        | 61/500 [00:03<00:23, 18.49it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.45it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.56it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.59it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.48it/s]
 14%|#4        | 71/500 [00:03<00:23, 18.59it/s]
 15%|#4        | 73/500 [00:04<00:22, 18.59it/s]
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 15%|#5        | 77/500 [00:04<00:22, 18.53it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.55it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.25it/s]
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 17%|#7        | 87/500 [00:04<00:22, 18.46it/s]
 18%|#7        | 89/500 [00:04<00:22, 18.20it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.35it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.30it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.33it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.35it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.33it/s]
 23%|##2       | 113/500 [00:06<00:21, 18.38it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.38it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.46it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.40it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.50it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.48it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.54it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.47it/s]
 26%|##5       | 129/500 [00:07<00:19, 18.59it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.63it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.65it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.58it/s]
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 28%|##8       | 141/500 [00:07<00:19, 18.55it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.60it/s]
 29%|##9       | 145/500 [00:07<00:19, 18.56it/s]
 29%|##9       | 147/500 [00:08<00:18, 18.59it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.54it/s]
 30%|###       | 151/500 [00:08<00:18, 18.59it/s]
 31%|###       | 153/500 [00:08<00:18, 18.53it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.56it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.45it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.43it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.41it/s]
 33%|###2      | 163/500 [00:08<00:18, 18.46it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.50it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.54it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.54it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.55it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.55it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.50it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.50it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.46it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.56it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.50it/s]
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 37%|###7      | 187/500 [00:10<00:16, 18.51it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.56it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.54it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.59it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.52it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.57it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.59it/s]
 40%|####      | 201/500 [00:10<00:16, 18.57it/s]
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 42%|####1     | 209/500 [00:11<00:15, 18.51it/s]
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 43%|####2     | 213/500 [00:11<00:15, 18.47it/s]
 43%|####3     | 215/500 [00:11<00:15, 18.43it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.40it/s]
 44%|####3     | 219/500 [00:11<00:15, 18.34it/s]
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 45%|####4     | 223/500 [00:12<00:14, 18.57it/s]
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 45%|####5     | 227/500 [00:12<00:14, 18.67it/s]
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 47%|####6     | 235/500 [00:12<00:14, 18.53it/s]
 47%|####7     | 237/500 [00:12<00:14, 18.50it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.48it/s]
 48%|####8     | 241/500 [00:13<00:13, 18.53it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.42it/s]
 49%|####9     | 245/500 [00:13<00:13, 18.36it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.39it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.29it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.39it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.43it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.49it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.43it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.52it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.46it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.56it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.55it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.57it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.50it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.41it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.40it/s]
 55%|#####5    | 275/500 [00:14<00:12, 18.50it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.43it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.48it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.50it/s]
 57%|#####6    | 283/500 [00:15<00:11, 18.47it/s]
 57%|#####6    | 285/500 [00:15<00:11, 18.50it/s]
 57%|#####7    | 287/500 [00:15<00:11, 18.33it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.16it/s]
 58%|#####8    | 291/500 [00:15<00:11, 18.34it/s]
 59%|#####8    | 293/500 [00:15<00:11, 18.36it/s]
 59%|#####8    | 295/500 [00:16<00:11, 18.34it/s]
 59%|#####9    | 297/500 [00:16<00:11, 18.27it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.39it/s]
 60%|######    | 301/500 [00:16<00:10, 18.38it/s]
 61%|######    | 303/500 [00:16<00:10, 18.48it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.48it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.24it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.24it/s]
 62%|######2   | 311/500 [00:16<00:10, 18.11it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.23it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.28it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.46it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.48it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.60it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.65it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.64it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.51it/s]
 66%|######5   | 329/500 [00:17<00:09, 18.50it/s]
 66%|######6   | 331/500 [00:18<00:09, 18.43it/s]
 67%|######6   | 333/500 [00:18<00:09, 18.52it/s]
 67%|######7   | 335/500 [00:18<00:08, 18.52it/s]
 67%|######7   | 337/500 [00:18<00:08, 18.51it/s]
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 69%|######8   | 343/500 [00:18<00:08, 18.60it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.57it/s]
 69%|######9   | 347/500 [00:18<00:08, 18.56it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.49it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.53it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.51it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.57it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.55it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.61it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.58it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.56it/s]
 81%|########  | 403/500 [00:21<00:05, 18.51it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.43it/s]
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 86%|########6 | 431/500 [00:23<00:03, 18.45it/s]
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 87%|########7 | 435/500 [00:23<00:03, 18.47it/s]
 87%|########7 | 437/500 [00:23<00:03, 18.32it/s]
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 88%|########8 | 441/500 [00:23<00:03, 18.25it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.28it/s]
 91%|######### | 453/500 [00:24<00:02, 18.41it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.46it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.57it/s]
 92%|#########1| 459/500 [00:24<00:02, 18.47it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.50it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.46it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.36it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.34it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.43it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.33it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.42it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.42it/s]
 95%|#########5| 477/500 [00:25<00:01, 18.43it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.44it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.50it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.44it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.47it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.48it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.50it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.49it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.40it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.41it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.48it/s]
100%|#########9| 499/500 [00:27<00:00, 18.29it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 32
+{
+    "Log_Likelihood": 17.465818384170532,
+    "Loss": -17.465818384170532,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82394.32580458045,
+    "Time_Data_Loading": 0.02150049606959025,
+    "Time_Epoch": 0.455792760848999,
+    "Time_Log_Info": 0.010261793931325277,
+    "Time_Process_Batch": 0.02270273764928182,
+    "Time_Train_Batch": 0.3981243928273519
+}
+
+Epoch 32 Memory Usage: 3028 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:35,  5.21it/s]
  1%|          | 3/500 [00:00<00:45, 10.99it/s]
  1%|1         | 5/500 [00:00<00:35, 13.91it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.59it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.55it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.61it/s]
 22%|##1       | 109/500 [00:06<00:20, 18.65it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.61it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.50it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.59it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.67it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.64it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.71it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
+Train Epoch 33
+{
+    "Log_Likelihood": 17.442555110931398,
+    "Loss": -17.442555110931398,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82124.36489106105,
+    "Time_Data_Loading": 0.021553214391072592,
+    "Time_Epoch": 0.45662926832834877,
+    "Time_Log_Info": 0.010199475288391113,
+    "Time_Process_Batch": 0.023149398962656657,
+    "Time_Train_Batch": 0.3984950145085653
+}
+
+Epoch 33 Memory Usage: 3027 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 34
+{
+    "Log_Likelihood": 17.45152293586731,
+    "Loss": -17.45152293586731,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82773.02357914842,
+    "Time_Data_Loading": 0.022065937519073486,
+    "Time_Epoch": 0.4571683883666992,
+    "Time_Log_Info": 0.01017292340596517,
+    "Time_Process_Batch": 0.02305761973063151,
+    "Time_Train_Batch": 0.3985931634902954
+}
+
+Epoch 34 Memory Usage: 3029 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.55it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.12it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 35
+{
+    "Log_Likelihood": 17.43785355758667,
+    "Loss": -17.43785355758667,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86926.46093971461,
+    "Time_Data_Loading": 0.021523940563201904,
+    "Time_Epoch": 0.4582307020823161,
+    "Time_Log_Info": 0.010143462816874187,
+    "Time_Process_Batch": 0.023442570368448892,
+    "Time_Train_Batch": 0.39982533852259317
+}
+
+Epoch 35 Memory Usage: 3029 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
+Train Epoch 36
+{
+    "Log_Likelihood": 17.564781158447264,
+    "Loss": -17.564781158447264,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 80010.58178498995,
+    "Time_Data_Loading": 0.02203452984491984,
+    "Time_Epoch": 0.45848608016967773,
+    "Time_Log_Info": 0.010132261117299398,
+    "Time_Process_Batch": 0.023966733614603677,
+    "Time_Train_Batch": 0.39910622437795
+}
+
+Epoch 36 Memory Usage: 3029 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.25it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 37
+{
+    "Log_Likelihood": 17.558139543533326,
+    "Loss": -17.558139543533326,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84772.24730306999,
+    "Time_Data_Loading": 0.02160218556722005,
+    "Time_Epoch": 0.45798054536183674,
+    "Time_Log_Info": 0.010113183657328289,
+    "Time_Process_Batch": 0.023649768034617106,
+    "Time_Train_Batch": 0.39937785069147747
+}
+
+Epoch 37 Memory Usage: 3029 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 38
+{
+    "Log_Likelihood": 17.585404052734376,
+    "Loss": -17.585404052734376,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84918.77470780027,
+    "Time_Data_Loading": 0.02173550526301066,
+    "Time_Epoch": 0.4559173862139384,
+    "Time_Log_Info": 0.0102852463722229,
+    "Time_Process_Batch": 0.022882882754007974,
+    "Time_Train_Batch": 0.39781611363093056
+}
+
+Epoch 38 Memory Usage: 3030 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 39
+{
+    "Log_Likelihood": 17.611702703475952,
+    "Loss": -17.611702703475952,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83833.27234236455,
+    "Time_Data_Loading": 0.021306010087331136,
+    "Time_Epoch": 0.4548193256060282,
+    "Time_Log_Info": 0.01026088794072469,
+    "Time_Process_Batch": 0.022215747833251955,
+    "Time_Train_Batch": 0.3976991891860962
+}
+
+Epoch 39 Memory Usage: 3031 MB
+
+
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+Train Epoch 40
+{
+    "Log_Likelihood": 17.645724822998048,
+    "Loss": -17.645724822998048,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83083.74627537178,
+    "Time_Data_Loading": 0.021285982926686604,
+    "Time_Epoch": 0.45490578810373944,
+    "Time_Log_Info": 0.010283621152242024,
+    "Time_Process_Batch": 0.022355655829111736,
+    "Time_Train_Batch": 0.39771428108215334
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_40.pth
+
+Epoch 40 Memory Usage: 3031 MB
+
+
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 10%|#         | 51/500 [00:02<00:24, 18.46it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.48it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.47it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.54it/s]
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 14%|#3        | 69/500 [00:03<00:23, 18.59it/s]
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 15%|#4        | 73/500 [00:04<00:22, 18.62it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.54it/s]
 31%|###       | 153/500 [00:08<00:18, 18.44it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.54it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.61it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.59it/s]
 33%|###2      | 163/500 [00:08<00:18, 18.56it/s]
 33%|###3      | 165/500 [00:09<00:17, 18.64it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.64it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.62it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.57it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.61it/s]
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 48%|####7     | 239/500 [00:13<00:14, 18.50it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.58it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.48it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.51it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.20it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.29it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.17it/s]
 52%|#####2    | 261/500 [00:14<00:13, 18.31it/s]
 53%|#####2    | 263/500 [00:14<00:13, 18.17it/s]
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 53%|#####3    | 267/500 [00:14<00:12, 18.35it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.32it/s]
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 55%|#####4    | 273/500 [00:14<00:12, 18.27it/s]
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 55%|#####5    | 277/500 [00:15<00:12, 18.31it/s]
 56%|#####5    | 279/500 [00:15<00:12, 18.35it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.48it/s]
 61%|######    | 303/500 [00:16<00:10, 18.49it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.57it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.63it/s]
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 62%|######2   | 311/500 [00:16<00:10, 18.55it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.24it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.38it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.34it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.16it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.20it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.58it/s]
 81%|########  | 403/500 [00:21<00:05, 18.60it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.48it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.46it/s]
 91%|######### | 453/500 [00:24<00:02, 18.54it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.49it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.53it/s]
 92%|#########1| 459/500 [00:24<00:02, 18.44it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.53it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.48it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.52it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.26it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.32it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.40it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.22it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.35it/s]
 95%|#########5| 477/500 [00:25<00:01, 18.40it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.49it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.51it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.34it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.39it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.50it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.53it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.56it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.61it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.53it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.57it/s]
100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 41
+{
+    "Log_Likelihood": 17.677133440017702,
+    "Loss": -17.677133440017702,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 78883.82273256185,
+    "Time_Data_Loading": 0.021253482500712077,
+    "Time_Epoch": 0.45599730412165324,
+    "Time_Log_Info": 0.01023643414179484,
+    "Time_Process_Batch": 0.022626892725626627,
+    "Time_Train_Batch": 0.39867400328318275
+}
+
+Epoch 41 Memory Usage: 3035 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:34,  5.27it/s]
  1%|          | 3/500 [00:00<00:45, 10.86it/s]
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 19%|#8        | 93/500 [00:05<00:21, 18.55it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.49it/s]
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 29%|##8       | 143/500 [00:07<00:19, 18.38it/s]
 29%|##9       | 145/500 [00:07<00:19, 18.37it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.46it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.52it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.63it/s]
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 33%|###2      | 163/500 [00:08<00:18, 18.63it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.56it/s]
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 34%|###3      | 169/500 [00:09<00:17, 18.59it/s]
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 35%|###4      | 173/500 [00:09<00:17, 18.69it/s]
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 45%|####4     | 223/500 [00:12<00:14, 18.49it/s]
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 48%|####7     | 239/500 [00:13<00:14, 18.40it/s]
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 49%|####8     | 243/500 [00:13<00:13, 18.37it/s]
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 49%|####9     | 247/500 [00:13<00:13, 18.52it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.59it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.56it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.64it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.60it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.58it/s]
 52%|#####1    | 259/500 [00:14<00:12, 18.59it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.59it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.69it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.57it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.59it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.53it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.44it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.28it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.36it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.44it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.49it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.50it/s]
 57%|#####6    | 283/500 [00:15<00:11, 18.52it/s]
 57%|#####6    | 285/500 [00:15<00:11, 18.52it/s]
 57%|#####7    | 287/500 [00:15<00:11, 18.59it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.57it/s]
 58%|#####8    | 291/500 [00:15<00:11, 18.60it/s]
 59%|#####8    | 293/500 [00:15<00:11, 18.50it/s]
 59%|#####8    | 295/500 [00:16<00:11, 18.59it/s]
 59%|#####9    | 297/500 [00:16<00:10, 18.63it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.63it/s]
 60%|######    | 301/500 [00:16<00:10, 18.45it/s]
 61%|######    | 303/500 [00:16<00:10, 18.44it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.48it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.52it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.54it/s]
 62%|######2   | 311/500 [00:16<00:10, 18.53it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.59it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.50it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.59it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.40it/s]
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 65%|######4   | 323/500 [00:17<00:09, 18.51it/s]
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 65%|######5   | 327/500 [00:17<00:09, 18.53it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.54it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.51it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.49it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.44it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.41it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.36it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.43it/s]
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 81%|########1 | 405/500 [00:22<00:05, 18.41it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.58it/s]
 91%|######### | 453/500 [00:24<00:02, 18.56it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.59it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.57it/s]
 92%|#########1| 459/500 [00:24<00:02, 18.57it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.52it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.47it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.40it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.48it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.51it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.55it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.60it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.62it/s]
 95%|#########5| 477/500 [00:25<00:01, 18.65it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.58it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.56it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.56it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.53it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.38it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.46it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.43it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.33it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.39it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.38it/s]
100%|#########9| 499/500 [00:27<00:00, 18.34it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
+Train Epoch 42
+{
+    "Log_Likelihood": 17.66819284057617,
+    "Loss": -17.66819284057617,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82761.41897867083,
+    "Time_Data_Loading": 0.021315316359202068,
+    "Time_Epoch": 0.4562793254852295,
+    "Time_Log_Info": 0.010168572266896566,
+    "Time_Process_Batch": 0.02295166254043579,
+    "Time_Train_Batch": 0.39857991139094034
+}
+
+Epoch 42 Memory Usage: 3035 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:39,  5.00it/s]
  1%|          | 3/500 [00:00<00:45, 10.99it/s]
  1%|1         | 5/500 [00:00<00:36, 13.58it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.37it/s]
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 22%|##2       | 111/500 [00:06<00:21, 18.24it/s]
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 23%|##3       | 117/500 [00:06<00:20, 18.42it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.42it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.51it/s]
 31%|###       | 153/500 [00:08<00:18, 18.38it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.42it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.54it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.49it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.44it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.20it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.29it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.31it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.41it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.39it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.41it/s]
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 91%|#########1| 455/500 [00:24<00:02, 17.77it/s]
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 97%|#########6| 483/500 [00:26<00:00, 18.29it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.38it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.44it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.34it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.23it/s]
+Train Epoch 43
+{
+    "Log_Likelihood": 17.684309852600098,
+    "Loss": -17.684309852600098,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91271.86757377487,
+    "Time_Data_Loading": 0.022457385063171388,
+    "Time_Epoch": 0.4600822528203328,
+    "Time_Log_Info": 0.010087629159291586,
+    "Time_Process_Batch": 0.024241995811462403,
+    "Time_Train_Batch": 0.3998259941736857
+}
+
+Epoch 43 Memory Usage: 3036 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 44
+{
+    "Log_Likelihood": 17.659667963027953,
+    "Loss": -17.659667963027953,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88211.49681396336,
+    "Time_Data_Loading": 0.021891991297403973,
+    "Time_Epoch": 0.45713314215342205,
+    "Time_Log_Info": 0.0101508100827535,
+    "Time_Process_Batch": 0.022974340120951335,
+    "Time_Train_Batch": 0.3989158868789673
+}
+
+Epoch 44 Memory Usage: 3036 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
+Train Epoch 45
+{
+    "Log_Likelihood": 17.72800823402405,
+    "Loss": -17.72800823402405,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82933.41278215154,
+    "Time_Data_Loading": 0.02236800193786621,
+    "Time_Epoch": 0.4586467544237773,
+    "Time_Log_Info": 0.010057644049326579,
+    "Time_Process_Batch": 0.023726848761240642,
+    "Time_Train_Batch": 0.3992064038912455
+}
+
+Epoch 45 Memory Usage: 3036 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.24it/s]
+Train Epoch 46
+{
+    "Log_Likelihood": 17.747300914764406,
+    "Loss": -17.747300914764406,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86079.88996460811,
+    "Time_Data_Loading": 0.022315335273742676,
+    "Time_Epoch": 0.45954732100168866,
+    "Time_Log_Info": 0.010110243161519369,
+    "Time_Process_Batch": 0.023874199390411376,
+    "Time_Train_Batch": 0.4000053405761719
+}
+
+Epoch 46 Memory Usage: 3037 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.25it/s]
+Train Epoch 47
+{
+    "Log_Likelihood": 17.74025391769409,
+    "Loss": -17.74025391769409,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86909.84949745699,
+    "Time_Data_Loading": 0.022379497687021892,
+    "Time_Epoch": 0.45944714546203613,
+    "Time_Log_Info": 0.010090517997741699,
+    "Time_Process_Batch": 0.02357645829518636,
+    "Time_Train_Batch": 0.3999291737874349
+}
+
+Epoch 47 Memory Usage: 3036 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
+Train Epoch 48
+{
+    "Log_Likelihood": 17.787757799148558,
+    "Loss": -17.787757799148558,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93466.87577148703,
+    "Time_Data_Loading": 0.022053277492523192,
+    "Time_Epoch": 0.457558798789978,
+    "Time_Log_Info": 0.010164193312327067,
+    "Time_Process_Batch": 0.023321835199991862,
+    "Time_Train_Batch": 0.39874814748764037
+}
+
+Epoch 48 Memory Usage: 3038 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 49
+{
+    "Log_Likelihood": 17.81283748626709,
+    "Loss": -17.81283748626709,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82871.67533411484,
+    "Time_Data_Loading": 0.021507322788238525,
+    "Time_Epoch": 0.4558211962381999,
+    "Time_Log_Info": 0.010233271121978759,
+    "Time_Process_Batch": 0.022743173440297446,
+    "Time_Train_Batch": 0.3980838974316915
+}
+
+Epoch 49 Memory Usage: 3038 MB
+
+
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  1%|1         | 7/500 [00:00<00:32, 15.37it/s]
  2%|1         | 9/500 [00:00<00:29, 16.54it/s]
  2%|2         | 11/500 [00:00<00:28, 17.31it/s]
  3%|2         | 13/500 [00:00<00:27, 17.58it/s]
  3%|3         | 15/500 [00:00<00:27, 17.87it/s]
  3%|3         | 17/500 [00:01<00:26, 18.00it/s]
  4%|3         | 19/500 [00:01<00:26, 18.22it/s]
  4%|4         | 21/500 [00:01<00:26, 18.36it/s]
  5%|4         | 23/500 [00:01<00:25, 18.40it/s]
  5%|5         | 25/500 [00:01<00:25, 18.57it/s]
  5%|5         | 27/500 [00:01<00:25, 18.60it/s]
  6%|5         | 29/500 [00:01<00:25, 18.64it/s]
  6%|6         | 31/500 [00:01<00:25, 18.58it/s]
  7%|6         | 33/500 [00:01<00:25, 18.61it/s]
  7%|7         | 35/500 [00:02<00:24, 18.67it/s]
  7%|7         | 37/500 [00:02<00:24, 18.63it/s]
  8%|7         | 39/500 [00:02<00:24, 18.70it/s]
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  9%|9         | 47/500 [00:02<00:24, 18.34it/s]
 10%|9         | 49/500 [00:02<00:24, 18.37it/s]
 10%|#         | 51/500 [00:02<00:24, 18.36it/s]
 11%|#         | 53/500 [00:03<00:24, 18.42it/s]
 11%|#1        | 55/500 [00:03<00:24, 18.35it/s]
 11%|#1        | 57/500 [00:03<00:24, 18.16it/s]
 12%|#1        | 59/500 [00:03<00:24, 18.13it/s]
 12%|#2        | 61/500 [00:03<00:24, 18.08it/s]
 13%|#2        | 63/500 [00:03<00:24, 17.89it/s]
 13%|#3        | 65/500 [00:03<00:24, 18.00it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.16it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.03it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.09it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.24it/s]
 15%|#5        | 75/500 [00:04<00:23, 18.09it/s]
 15%|#5        | 77/500 [00:04<00:23, 18.13it/s]
 16%|#5        | 79/500 [00:04<00:23, 18.14it/s]
 16%|#6        | 81/500 [00:04<00:23, 18.02it/s]
 17%|#6        | 83/500 [00:04<00:23, 17.75it/s]
 17%|#7        | 85/500 [00:04<00:23, 17.45it/s]
 17%|#7        | 87/500 [00:04<00:23, 17.47it/s]
 18%|#7        | 89/500 [00:05<00:23, 17.44it/s]
 18%|#8        | 91/500 [00:05<00:23, 17.51it/s]
 19%|#8        | 93/500 [00:05<00:22, 17.79it/s]
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 20%|#9        | 99/500 [00:05<00:22, 17.90it/s]
 20%|##        | 101/500 [00:05<00:22, 17.95it/s]
 21%|##        | 103/500 [00:05<00:22, 18.00it/s]
 21%|##1       | 105/500 [00:05<00:21, 17.98it/s]
 21%|##1       | 107/500 [00:06<00:21, 18.12it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.18it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.18it/s]
 23%|##2       | 113/500 [00:06<00:21, 18.27it/s]
 23%|##3       | 115/500 [00:06<00:21, 18.04it/s]
 23%|##3       | 117/500 [00:06<00:21, 18.15it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.24it/s]
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 25%|##4       | 123/500 [00:06<00:20, 18.35it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.40it/s]
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 26%|##6       | 131/500 [00:07<00:19, 18.46it/s]
 27%|##6       | 133/500 [00:07<00:19, 18.38it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.28it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.26it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.31it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.06it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.01it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.15it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.21it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.35it/s]
 30%|###       | 151/500 [00:08<00:18, 18.45it/s]
 31%|###       | 153/500 [00:08<00:18, 18.44it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.51it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.46it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.56it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.55it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.19it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.28it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.21it/s]
 34%|###3      | 169/500 [00:09<00:18, 18.25it/s]
 34%|###4      | 171/500 [00:09<00:18, 18.22it/s]
 35%|###4      | 173/500 [00:09<00:18, 17.97it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.12it/s]
 35%|###5      | 177/500 [00:09<00:17, 17.97it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.04it/s]
 36%|###6      | 181/500 [00:10<00:17, 18.20it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.25it/s]
 37%|###7      | 185/500 [00:10<00:17, 18.43it/s]
 37%|###7      | 187/500 [00:10<00:17, 18.37it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.48it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.37it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.06it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.13it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.15it/s]
 40%|###9      | 199/500 [00:11<00:16, 18.14it/s]
 40%|####      | 201/500 [00:11<00:16, 18.17it/s]
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 42%|####1     | 209/500 [00:11<00:15, 18.34it/s]
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 43%|####3     | 215/500 [00:11<00:15, 17.98it/s]
 43%|####3     | 217/500 [00:12<00:15, 17.93it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.14it/s]
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 45%|####4     | 223/500 [00:12<00:15, 18.18it/s]
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 47%|####6     | 235/500 [00:13<00:14, 18.44it/s]
 47%|####7     | 237/500 [00:13<00:14, 18.50it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.42it/s]
 48%|####8     | 241/500 [00:13<00:14, 18.44it/s]
 49%|####8     | 243/500 [00:13<00:14, 18.28it/s]
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 49%|####9     | 247/500 [00:13<00:13, 18.36it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.39it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.41it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.49it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.43it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.55it/s]
 52%|#####1    | 259/500 [00:14<00:12, 18.55it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.48it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.45it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.47it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.40it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.41it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.44it/s]
 55%|#####4    | 273/500 [00:15<00:12, 18.50it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.52it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.57it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.59it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.63it/s]
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 57%|#####7    | 287/500 [00:15<00:11, 18.37it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.26it/s]
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 59%|#####8    | 295/500 [00:16<00:11, 18.25it/s]
 59%|#####9    | 297/500 [00:16<00:11, 18.33it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.46it/s]
 60%|######    | 301/500 [00:16<00:10, 18.56it/s]
 61%|######    | 303/500 [00:16<00:10, 18.48it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.30it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.36it/s]
 62%|######1   | 309/500 [00:17<00:10, 18.19it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.29it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.29it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.37it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.32it/s]
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 65%|######4   | 323/500 [00:17<00:09, 18.06it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.48it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.50it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.31it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.39it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.44it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.52it/s]
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 80%|########  | 401/500 [00:22<00:05, 17.98it/s]
 81%|########  | 403/500 [00:22<00:05, 18.12it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.30it/s]
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 82%|########1 | 409/500 [00:22<00:04, 18.26it/s]
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 83%|########2 | 415/500 [00:22<00:04, 18.08it/s]
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 86%|########5 | 429/500 [00:23<00:03, 18.41it/s]
 86%|########6 | 431/500 [00:23<00:03, 18.46it/s]
 87%|########6 | 433/500 [00:23<00:03, 18.52it/s]
 87%|########7 | 435/500 [00:23<00:03, 18.44it/s]
 87%|########7 | 437/500 [00:24<00:03, 18.48it/s]
 88%|########7 | 439/500 [00:24<00:03, 18.39it/s]
 88%|########8 | 441/500 [00:24<00:03, 18.50it/s]
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 90%|########9 | 449/500 [00:24<00:02, 18.49it/s]
 90%|######### | 451/500 [00:24<00:02, 18.30it/s]
 91%|######### | 453/500 [00:24<00:02, 18.36it/s]
 91%|#########1| 455/500 [00:25<00:02, 18.22it/s]
 91%|#########1| 457/500 [00:25<00:02, 18.22it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.31it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.30it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.32it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.40it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.46it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.42it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.48it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.50it/s]
 95%|#########5| 475/500 [00:26<00:01, 18.47it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.51it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.53it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.58it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.54it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.58it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.52it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.37it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.44it/s]
 99%|#########8| 493/500 [00:27<00:00, 18.42it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.44it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.57it/s]
100%|#########9| 499/500 [00:27<00:00, 18.18it/s]
100%|##########| 500/500 [00:27<00:00, 18.22it/s]
+Train Epoch 50
+{
+    "Log_Likelihood": 17.83389363861084,
+    "Loss": -17.83389363861084,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 79170.69466115168,
+    "Time_Data_Loading": 0.02257465124130249,
+    "Time_Epoch": 0.4600933432579041,
+    "Time_Log_Info": 0.010085622469584147,
+    "Time_Process_Batch": 0.024189364910125733,
+    "Time_Train_Batch": 0.39994244575500487
+}
+
+Epoch 50 Memory Usage: 3038 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:35,  5.22it/s]
  1%|          | 3/500 [00:00<00:44, 11.05it/s]
  1%|1         | 5/500 [00:00<00:35, 13.83it/s]
  1%|1         | 7/500 [00:00<00:31, 15.63it/s]
  2%|1         | 9/500 [00:00<00:29, 16.54it/s]
  2%|2         | 11/500 [00:00<00:28, 17.37it/s]
  3%|2         | 13/500 [00:00<00:27, 17.57it/s]
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  3%|3         | 17/500 [00:01<00:26, 18.12it/s]
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  6%|5         | 29/500 [00:01<00:25, 18.25it/s]
  6%|6         | 31/500 [00:01<00:25, 18.21it/s]
  7%|6         | 33/500 [00:01<00:25, 18.35it/s]
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 11%|#1        | 55/500 [00:03<00:24, 18.45it/s]
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 14%|#3        | 69/500 [00:03<00:23, 18.65it/s]
 14%|#4        | 71/500 [00:03<00:23, 18.61it/s]
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 31%|###1      | 155/500 [00:08<00:19, 17.92it/s]
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 33%|###2      | 163/500 [00:08<00:18, 17.84it/s]
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 34%|###3      | 169/500 [00:09<00:18, 18.31it/s]
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 35%|###4      | 173/500 [00:09<00:17, 18.46it/s]
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 48%|####7     | 239/500 [00:13<00:14, 18.24it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.31it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.34it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.43it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.42it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.45it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.37it/s]
 52%|#####2    | 261/500 [00:14<00:13, 18.31it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.30it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.37it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.43it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.41it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.43it/s]
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 55%|#####5    | 275/500 [00:15<00:12, 18.28it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.23it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.37it/s]
 61%|######    | 303/500 [00:16<00:10, 18.53it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.38it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.49it/s]
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 62%|######2   | 311/500 [00:17<00:10, 18.57it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.53it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.58it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.43it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.38it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.46it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.49it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.58it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.35it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.29it/s]
 91%|######### | 453/500 [00:24<00:02, 18.09it/s]
 91%|#########1| 455/500 [00:24<00:02, 17.98it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.13it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.31it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.30it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.39it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.48it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.40it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.52it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.61it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.61it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.66it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.44it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.52it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.46it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.55it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.54it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.57it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.42it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.50it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.34it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.39it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.44it/s]
100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 51
+{
+    "Log_Likelihood": 17.910449531555177,
+    "Loss": -17.910449531555177,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84752.96077855378,
+    "Time_Data_Loading": 0.021740241845448812,
+    "Time_Epoch": 0.4573853810628255,
+    "Time_Log_Info": 0.010135984420776368,
+    "Time_Process_Batch": 0.02324622869491577,
+    "Time_Train_Batch": 0.3990269899368286
+}
+
+Epoch 51 Memory Usage: 3038 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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 23%|##3       | 117/500 [00:06<00:21, 18.10it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.24it/s]
+Train Epoch 52
+{
+    "Log_Likelihood": 17.928497329711913,
+    "Loss": -17.928497329711913,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84589.94160975392,
+    "Time_Data_Loading": 0.022165373961130778,
+    "Time_Epoch": 0.4596294403076172,
+    "Time_Log_Info": 0.010074484348297118,
+    "Time_Process_Batch": 0.024074637889862062,
+    "Time_Train_Batch": 0.39994318087895714
+}
+
+Epoch 52 Memory Usage: 3038 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.26it/s]
+Train Epoch 53
+{
+    "Log_Likelihood": 17.916728160858153,
+    "Loss": -17.916728160858153,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 80870.64742362499,
+    "Time_Data_Loading": 0.02208361228307088,
+    "Time_Epoch": 0.4591449499130249,
+    "Time_Log_Info": 0.010079391797383626,
+    "Time_Process_Batch": 0.02379004955291748,
+    "Time_Train_Batch": 0.39987290700276695
+}
+
+Epoch 53 Memory Usage: 3039 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.38it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.27it/s]
+Train Epoch 54
+{
+    "Log_Likelihood": 17.947439323425293,
+    "Loss": -17.947439323425293,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91464.713814311,
+    "Time_Data_Loading": 0.022485772768656414,
+    "Time_Epoch": 0.45886061191558836,
+    "Time_Log_Info": 0.01009761889775594,
+    "Time_Process_Batch": 0.023577590783437092,
+    "Time_Train_Batch": 0.39944808880488075
+}
+
+Epoch 54 Memory Usage: 3040 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.34it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 55
+{
+    "Log_Likelihood": 17.9746361618042,
+    "Loss": -17.9746361618042,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 80514.6453321836,
+    "Time_Data_Loading": 0.021364514032999674,
+    "Time_Epoch": 0.4577120463053385,
+    "Time_Log_Info": 0.010129892826080322,
+    "Time_Process_Batch": 0.023482529322306316,
+    "Time_Train_Batch": 0.39902983903884887
+}
+
+Epoch 55 Memory Usage: 3040 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
+Train Epoch 56
+{
+    "Log_Likelihood": 17.9241479511261,
+    "Loss": -17.9241479511261,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85142.23040724857,
+    "Time_Data_Loading": 0.022085845470428467,
+    "Time_Epoch": 0.4589833656946818,
+    "Time_Log_Info": 0.01002267599105835,
+    "Time_Process_Batch": 0.02345914045969645,
+    "Time_Train_Batch": 0.3998344937960307
+}
+
+Epoch 56 Memory Usage: 3041 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 57
+{
+    "Log_Likelihood": 18.0169349899292,
+    "Loss": -18.0169349899292,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87680.58403091494,
+    "Time_Data_Loading": 0.02179532845815023,
+    "Time_Epoch": 0.4581947127978007,
+    "Time_Log_Info": 0.010086524486541747,
+    "Time_Process_Batch": 0.023537162939707437,
+    "Time_Train_Batch": 0.3994714617729187
+}
+
+Epoch 57 Memory Usage: 3041 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.19it/s]
+Train Epoch 58
+{
+    "Log_Likelihood": 18.045465404510498,
+    "Loss": -18.045465404510498,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86244.50454188716,
+    "Time_Data_Loading": 0.02369176149368286,
+    "Time_Epoch": 0.46078469753265383,
+    "Time_Log_Info": 0.010044320424397787,
+    "Time_Process_Batch": 0.02388771375020345,
+    "Time_Train_Batch": 0.3998197078704834
+}
+
+Epoch 58 Memory Usage: 3041 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.36it/s]
+Train Epoch 59
+{
+    "Log_Likelihood": 18.04119263076782,
+    "Loss": -18.04119263076782,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89183.915830016,
+    "Time_Data_Loading": 0.021357798576354982,
+    "Time_Epoch": 0.4566977302233378,
+    "Time_Log_Info": 0.010114045937856038,
+    "Time_Process_Batch": 0.023069918155670166,
+    "Time_Train_Batch": 0.39871967236200967
+}
+
+Epoch 59 Memory Usage: 3041 MB
+
+
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+Train Epoch 60
+{
+    "Log_Likelihood": 18.07973794555664,
+    "Loss": -18.07973794555664,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85423.14864280421,
+    "Time_Data_Loading": 0.021392826239267984,
+    "Time_Epoch": 0.45685462951660155,
+    "Time_Log_Info": 0.010115595658620198,
+    "Time_Process_Batch": 0.022847847143809,
+    "Time_Train_Batch": 0.399247936407725
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_60.pth
+
+Epoch 60 Memory Usage: 3042 MB
+
+
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 50%|#####     | 251/500 [00:13<00:13, 18.51it/s]
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 51%|#####1    | 255/500 [00:13<00:13, 18.33it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.34it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 61
+{
+    "Log_Likelihood": 18.12746234512329,
+    "Loss": -18.12746234512329,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 81319.0450906487,
+    "Time_Data_Loading": 0.021438388029734294,
+    "Time_Epoch": 0.4574490189552307,
+    "Time_Log_Info": 0.010096081097920736,
+    "Time_Process_Batch": 0.02309936285018921,
+    "Time_Train_Batch": 0.39946187337239586
+}
+
+Epoch 61 Memory Usage: 3042 MB
+
+
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 50%|#####     | 251/500 [00:13<00:13, 18.22it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.24it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.32it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.52it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.27it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.30it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.35it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.28it/s]
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 91%|######### | 453/500 [00:24<00:02, 18.27it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.31it/s]
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 92%|#########1| 459/500 [00:25<00:02, 18.36it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.44it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.42it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.27it/s]
+Train Epoch 62
+{
+    "Log_Likelihood": 18.06773276901245,
+    "Loss": -18.06773276901245,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83556.35399867606,
+    "Time_Data_Loading": 0.02254046599070231,
+    "Time_Epoch": 0.4589755137761434,
+    "Time_Log_Info": 0.0100539763768514,
+    "Time_Process_Batch": 0.02347960869471232,
+    "Time_Train_Batch": 0.39954496224721275
+}
+
+Epoch 62 Memory Usage: 3043 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:31<00:00, 14.23it/s]
100%|##########| 500/500 [00:31<00:00, 16.05it/s]
+Train Epoch 63
+{
+    "Log_Likelihood": 18.114360904693605,
+    "Loss": -18.114360904693605,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84363.0393465211,
+    "Time_Data_Loading": 0.024757091204325357,
+    "Time_Epoch": 0.5218261996905009,
+    "Time_Log_Info": 0.009779814879099529,
+    "Time_Process_Batch": 0.029196727275848388,
+    "Time_Train_Batch": 0.4547544558842977
+}
+
+Epoch 63 Memory Usage: 3043 MB
+
+
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100%|#########9| 499/500 [00:35<00:00, 14.25it/s]
100%|##########| 500/500 [00:35<00:00, 14.22it/s]
+Train Epoch 64
+{
+    "Log_Likelihood": 18.145264778137207,
+    "Loss": -18.145264778137207,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86919.49658198102,
+    "Time_Data_Loading": 0.02723983923594157,
+    "Time_Epoch": 0.5895900368690491,
+    "Time_Log_Info": 0.010039194424947103,
+    "Time_Process_Batch": 0.0329189658164978,
+    "Time_Train_Batch": 0.5152958710988362
+}
+
+Epoch 64 Memory Usage: 3043 MB
+
+
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100%|#########9| 499/500 [00:33<00:00, 14.24it/s]
100%|##########| 500/500 [00:33<00:00, 14.98it/s]
+Train Epoch 65
+{
+    "Log_Likelihood": 18.142512878417968,
+    "Loss": -18.142512878417968,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87031.32237148086,
+    "Time_Data_Loading": 0.025462818145751954,
+    "Time_Epoch": 0.5595924814542135,
+    "Time_Log_Info": 0.009891815980275472,
+    "Time_Process_Batch": 0.031027873357137043,
+    "Time_Train_Batch": 0.48942553202311195
+}
+
+Epoch 65 Memory Usage: 3044 MB
+
+
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100%|#########9| 499/500 [00:34<00:00, 14.36it/s]
100%|##########| 500/500 [00:34<00:00, 14.44it/s]
+Train Epoch 66
+{
+    "Log_Likelihood": 18.168669326782226,
+    "Loss": -18.168669326782226,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83048.22736626506,
+    "Time_Data_Loading": 0.026151657104492188,
+    "Time_Epoch": 0.5798394282658895,
+    "Time_Log_Info": 0.010105609893798828,
+    "Time_Process_Batch": 0.03154193162918091,
+    "Time_Train_Batch": 0.5084166089693706
+}
+
+Epoch 66 Memory Usage: 3043 MB
+
+
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100%|#########9| 499/500 [00:34<00:00, 14.32it/s]
100%|##########| 500/500 [00:34<00:00, 14.58it/s]
+Train Epoch 67
+{
+    "Log_Likelihood": 18.21196900177002,
+    "Loss": -18.21196900177002,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83446.47837588264,
+    "Time_Data_Loading": 0.02618782122929891,
+    "Time_Epoch": 0.5744672179222107,
+    "Time_Log_Info": 0.009983702500661214,
+    "Time_Process_Batch": 0.032062745094299315,
+    "Time_Train_Batch": 0.502585788567861
+}
+
+Epoch 67 Memory Usage: 3044 MB
+
+
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100%|#########9| 499/500 [00:33<00:00, 17.81it/s]
100%|##########| 500/500 [00:33<00:00, 14.84it/s]
+Train Epoch 68
+{
+    "Log_Likelihood": 18.20476513671875,
+    "Loss": -18.20476513671875,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84979.37514887775,
+    "Time_Data_Loading": 0.025145427385965983,
+    "Time_Epoch": 0.5646705309549968,
+    "Time_Log_Info": 0.010296483834584555,
+    "Time_Process_Batch": 0.030913233757019043,
+    "Time_Train_Batch": 0.49468382994333904
+}
+
+Epoch 68 Memory Usage: 3044 MB
+
+
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100%|#########9| 499/500 [00:34<00:00, 14.21it/s]
100%|##########| 500/500 [00:34<00:00, 14.31it/s]
+Train Epoch 69
+{
+    "Log_Likelihood": 18.218138652801514,
+    "Loss": -18.218138652801514,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85234.23759240648,
+    "Time_Data_Loading": 0.026159079869588216,
+    "Time_Epoch": 0.585549533367157,
+    "Time_Log_Info": 0.010119859377543132,
+    "Time_Process_Batch": 0.03230534394582112,
+    "Time_Train_Batch": 0.5131410400072733
+}
+
+Epoch 69 Memory Usage: 3044 MB
+
+
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100%|#########9| 499/500 [00:33<00:00, 14.41it/s]
100%|##########| 500/500 [00:33<00:00, 14.93it/s]
+Train Epoch 70
+{
+    "Log_Likelihood": 18.263972255706786,
+    "Loss": -18.263972255706786,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89298.33320193812,
+    "Time_Data_Loading": 0.02569802204767863,
+    "Time_Epoch": 0.5611116409301757,
+    "Time_Log_Info": 0.009929013252258301,
+    "Time_Process_Batch": 0.03132782379786173,
+    "Time_Train_Batch": 0.4904539942741394
+}
+
+Epoch 70 Memory Usage: 3044 MB
+
+
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100%|#########9| 499/500 [00:34<00:00, 14.36it/s]
100%|##########| 500/500 [00:35<00:00, 14.27it/s]
+Train Epoch 71
+{
+    "Log_Likelihood": 18.264116436004638,
+    "Loss": -18.264116436004638,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85595.06042055841,
+    "Time_Data_Loading": 0.026432240009307863,
+    "Time_Epoch": 0.5868057290712992,
+    "Time_Log_Info": 0.0099266250928243,
+    "Time_Process_Batch": 0.03279530207316081,
+    "Time_Train_Batch": 0.5140582482020061
+}
+
+Epoch 71 Memory Usage: 3045 MB
+
+
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100%|#########9| 499/500 [00:33<00:00, 14.18it/s]
100%|##########| 500/500 [00:33<00:00, 14.99it/s]
+Train Epoch 72
+{
+    "Log_Likelihood": 18.243720874786376,
+    "Loss": -18.243720874786376,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85406.54374926185,
+    "Time_Data_Loading": 0.024818058808644614,
+    "Time_Epoch": 0.5589784383773804,
+    "Time_Log_Info": 0.00997534195582072,
+    "Time_Process_Batch": 0.030212926864624023,
+    "Time_Train_Batch": 0.49034308195114135
+}
+
+Epoch 72 Memory Usage: 3045 MB
+
+
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100%|#########9| 499/500 [00:34<00:00, 14.33it/s]
100%|##########| 500/500 [00:34<00:00, 14.29it/s]
+Train Epoch 73
+{
+    "Log_Likelihood": 18.300827159881592,
+    "Loss": -18.300827159881592,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89413.16516177746,
+    "Time_Data_Loading": 0.026466902097066244,
+    "Time_Epoch": 0.5862514495849609,
+    "Time_Log_Info": 0.01001048485438029,
+    "Time_Process_Batch": 0.03229454755783081,
+    "Time_Train_Batch": 0.513836661974589
+}
+
+Epoch 73 Memory Usage: 3046 MB
+
+
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100%|#########9| 499/500 [00:33<00:00, 14.38it/s]
100%|##########| 500/500 [00:33<00:00, 14.95it/s]
+Train Epoch 74
+{
+    "Log_Likelihood": 18.341863655090332,
+    "Loss": -18.341863655090332,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86316.49909387258,
+    "Time_Data_Loading": 0.025243155161539712,
+    "Time_Epoch": 0.5603320558865865,
+    "Time_Log_Info": 0.009960508346557618,
+    "Time_Process_Batch": 0.03046758969624837,
+    "Time_Train_Batch": 0.4910635193188985
+}
+
+Epoch 74 Memory Usage: 3047 MB
+
+
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100%|#########9| 499/500 [00:34<00:00, 14.23it/s]
100%|##########| 500/500 [00:34<00:00, 14.56it/s]
+Train Epoch 75
+{
+    "Log_Likelihood": 18.330425014495848,
+    "Loss": -18.330425014495848,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93682.0299801657,
+    "Time_Data_Loading": 0.026263856887817384,
+    "Time_Epoch": 0.5752339363098145,
+    "Time_Log_Info": 0.010090891520182292,
+    "Time_Process_Batch": 0.03121992349624634,
+    "Time_Train_Batch": 0.5038670380910237
+}
+
+Epoch 75 Memory Usage: 3046 MB
+
+
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100%|#########9| 499/500 [00:34<00:00, 14.39it/s]
100%|##########| 500/500 [00:34<00:00, 14.62it/s]
+Train Epoch 76
+{
+    "Log_Likelihood": 18.38279062271118,
+    "Loss": -18.38279062271118,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82216.48508560263,
+    "Time_Data_Loading": 0.02627338965733846,
+    "Time_Epoch": 0.5729416489601136,
+    "Time_Log_Info": 0.009772193431854249,
+    "Time_Process_Batch": 0.032069631417592365,
+    "Time_Train_Batch": 0.5012213627497355
+}
+
+Epoch 76 Memory Usage: 3047 MB
+
+
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100%|##########| 500/500 [00:33<00:00, 14.82it/s]
+Train Epoch 77
+{
+    "Log_Likelihood": 18.35900397491455,
+    "Loss": -18.35900397491455,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84354.61440460548,
+    "Time_Data_Loading": 0.02540868123372396,
+    "Time_Epoch": 0.5652218143145243,
+    "Time_Log_Info": 0.009956900278727214,
+    "Time_Process_Batch": 0.030722451210021973,
+    "Time_Train_Batch": 0.4954669197400411
+}
+
+Epoch 77 Memory Usage: 3056 MB
+
+
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100%|#########9| 499/500 [00:34<00:00, 15.20it/s]
100%|##########| 500/500 [00:34<00:00, 14.52it/s]
+Train Epoch 78
+{
+    "Log_Likelihood": 18.372735027313233,
+    "Loss": -18.372735027313233,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86985.79942514254,
+    "Time_Data_Loading": 0.026078808307647704,
+    "Time_Epoch": 0.5767184813817342,
+    "Time_Log_Info": 0.01022341251373291,
+    "Time_Process_Batch": 0.031244277954101562,
+    "Time_Train_Batch": 0.5055324792861938
+}
+
+Epoch 78 Memory Usage: 3056 MB
+
+
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100%|#########9| 499/500 [00:34<00:00, 14.59it/s]
100%|##########| 500/500 [00:34<00:00, 14.60it/s]
+Train Epoch 79
+{
+    "Log_Likelihood": 18.360125160217287,
+    "Loss": -18.360125160217287,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87926.42252655224,
+    "Time_Data_Loading": 0.026524492104848228,
+    "Time_Epoch": 0.5735549688339233,
+    "Time_Log_Info": 0.009791103998819987,
+    "Time_Process_Batch": 0.03243916432062785,
+    "Time_Train_Batch": 0.5011516253153483
+}
+
+Epoch 79 Memory Usage: 3058 MB
+
+
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+Train Epoch 80
+{
+    "Log_Likelihood": 18.400950744628908,
+    "Loss": -18.400950744628908,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90300.16787580767,
+    "Time_Data_Loading": 0.0254326065381368,
+    "Time_Epoch": 0.565778915087382,
+    "Time_Log_Info": 0.009951706727345784,
+    "Time_Process_Batch": 0.031103924910227457,
+    "Time_Train_Batch": 0.4956750432650248
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_80.pth
+
+Epoch 80 Memory Usage: 3059 MB
+
+
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 50%|#####     | 251/500 [00:17<00:17, 14.38it/s]
 51%|#####     | 253/500 [00:17<00:17, 14.23it/s]
 51%|#####1    | 255/500 [00:17<00:17, 14.39it/s]
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 70%|#######   | 351/500 [00:24<00:10, 14.22it/s]
 71%|#######   | 353/500 [00:24<00:10, 14.49it/s]
 71%|#######1  | 355/500 [00:24<00:10, 14.21it/s]
 71%|#######1  | 357/500 [00:24<00:10, 14.25it/s]
 72%|#######1  | 359/500 [00:24<00:09, 14.29it/s]
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 81%|########1 | 405/500 [00:28<00:06, 14.39it/s]
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 91%|######### | 453/500 [00:31<00:03, 14.24it/s]
 91%|#########1| 455/500 [00:31<00:03, 14.66it/s]
 91%|#########1| 457/500 [00:31<00:02, 14.81it/s]
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 97%|#########7| 487/500 [00:33<00:00, 14.12it/s]
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 98%|#########8| 491/500 [00:34<00:00, 14.12it/s]
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100%|#########9| 499/500 [00:34<00:00, 14.34it/s]
100%|##########| 500/500 [00:34<00:00, 14.40it/s]
+Train Epoch 81
+{
+    "Log_Likelihood": 18.417832607269286,
+    "Loss": -18.417832607269286,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91223.49029116333,
+    "Time_Data_Loading": 0.025623619556427002,
+    "Time_Epoch": 0.5816176374753316,
+    "Time_Log_Info": 0.010104759534200033,
+    "Time_Process_Batch": 0.03184409141540527,
+    "Time_Train_Batch": 0.5106146931648254
+}
+
+Epoch 81 Memory Usage: 3059 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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 97%|#########7| 487/500 [00:32<00:00, 14.21it/s]
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100%|#########9| 499/500 [00:33<00:00, 14.28it/s]
100%|##########| 500/500 [00:33<00:00, 14.95it/s]
+Train Epoch 82
+{
+    "Log_Likelihood": 18.418365409851074,
+    "Loss": -18.418365409851074,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84740.7779877791,
+    "Time_Data_Loading": 0.025667667388916016,
+    "Time_Epoch": 0.5605729500452677,
+    "Time_Log_Info": 0.00994492769241333,
+    "Time_Process_Batch": 0.031082598368326823,
+    "Time_Train_Batch": 0.4901170174280802
+}
+
+Epoch 82 Memory Usage: 3059 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:34<00:00, 14.76it/s]
100%|##########| 500/500 [00:34<00:00, 14.29it/s]
+Train Epoch 83
+{
+    "Log_Likelihood": 18.45107160949707,
+    "Loss": -18.45107160949707,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90485.83514945257,
+    "Time_Data_Loading": 0.025923760732014973,
+    "Time_Epoch": 0.5864453633626302,
+    "Time_Log_Info": 0.009988808631896972,
+    "Time_Process_Batch": 0.03256972233454387,
+    "Time_Train_Batch": 0.514139191309611
+}
+
+Epoch 83 Memory Usage: 3059 MB
+
+
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100%|#########9| 499/500 [00:33<00:00, 14.38it/s]
100%|##########| 500/500 [00:33<00:00, 14.97it/s]
+Train Epoch 84
+{
+    "Log_Likelihood": 18.497515129089354,
+    "Loss": -18.497515129089354,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84727.6664541738,
+    "Time_Data_Loading": 0.025152631600697837,
+    "Time_Epoch": 0.5597156127293904,
+    "Time_Log_Info": 0.009874538580576579,
+    "Time_Process_Batch": 0.030456268787384035,
+    "Time_Train_Batch": 0.49051421085993446
+}
+
+Epoch 84 Memory Usage: 3059 MB
+
+
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100%|#########9| 499/500 [00:34<00:00, 13.97it/s]
100%|##########| 500/500 [00:34<00:00, 14.54it/s]
+Train Epoch 85
+{
+    "Log_Likelihood": 18.485199474334717,
+    "Loss": -18.485199474334717,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85015.7922501614,
+    "Time_Data_Loading": 0.0259309450785319,
+    "Time_Epoch": 0.5766065200169881,
+    "Time_Log_Info": 0.010092143217722576,
+    "Time_Process_Batch": 0.03135000864664714,
+    "Time_Train_Batch": 0.5051196098327637
+}
+
+Epoch 85 Memory Usage: 3059 MB
+
+
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100%|#########9| 499/500 [00:34<00:00, 14.10it/s]
100%|##########| 500/500 [00:34<00:00, 14.51it/s]
+Train Epoch 86
+{
+    "Log_Likelihood": 18.486248344421387,
+    "Loss": -18.486248344421387,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82501.29336924182,
+    "Time_Data_Loading": 0.025539239247639973,
+    "Time_Epoch": 0.577392562230428,
+    "Time_Log_Info": 0.010346086819966634,
+    "Time_Process_Batch": 0.030942225456237794,
+    "Time_Train_Batch": 0.5067789991696675
+}
+
+Epoch 86 Memory Usage: 3060 MB
+
+
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100%|#########9| 499/500 [00:34<00:00, 14.38it/s]
100%|##########| 500/500 [00:34<00:00, 14.57it/s]
+Train Epoch 87
+{
+    "Log_Likelihood": 18.489008419036864,
+    "Loss": -18.489008419036864,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87433.9641740408,
+    "Time_Data_Loading": 0.026020538806915284,
+    "Time_Epoch": 0.5750748117764791,
+    "Time_Log_Info": 0.010190117359161376,
+    "Time_Process_Batch": 0.031393770376841226,
+    "Time_Train_Batch": 0.5037845055262248
+}
+
+Epoch 87 Memory Usage: 3060 MB
+
+
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 91%|#########1| 455/500 [00:31<00:03, 14.40it/s]
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 97%|#########7| 487/500 [00:33<00:00, 14.39it/s]
 98%|#########7| 489/500 [00:33<00:00, 14.32it/s]
 98%|#########8| 491/500 [00:33<00:00, 14.24it/s]
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100%|#########9| 499/500 [00:34<00:00, 14.27it/s]
100%|##########| 500/500 [00:34<00:00, 14.63it/s]
+Train Epoch 88
+{
+    "Log_Likelihood": 18.472515949249267,
+    "Loss": -18.472515949249267,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85623.49409350147,
+    "Time_Data_Loading": 0.026079130172729493,
+    "Time_Epoch": 0.5726271390914917,
+    "Time_Log_Info": 0.009834106763203938,
+    "Time_Process_Batch": 0.03225692907969157,
+    "Time_Train_Batch": 0.500609290599823
+}
+
+Epoch 88 Memory Usage: 3060 MB
+
+
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 50%|#####     | 251/500 [00:16<00:17, 14.26it/s]
 51%|#####     | 253/500 [00:17<00:17, 14.11it/s]
 51%|#####1    | 255/500 [00:17<00:17, 13.81it/s]
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100%|#########9| 499/500 [00:33<00:00, 15.47it/s]
100%|##########| 500/500 [00:33<00:00, 14.83it/s]
+Train Epoch 89
+{
+    "Log_Likelihood": 18.49295292663574,
+    "Loss": -18.49295292663574,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85843.56918728144,
+    "Time_Data_Loading": 0.025720059871673584,
+    "Time_Epoch": 0.5651306311289469,
+    "Time_Log_Info": 0.010000654061635335,
+    "Time_Process_Batch": 0.030985152721405028,
+    "Time_Train_Batch": 0.49455173015594484
+}
+
+Epoch 89 Memory Usage: 3060 MB
+
+
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100%|#########9| 499/500 [00:35<00:00, 14.38it/s]
100%|##########| 500/500 [00:35<00:00, 14.18it/s]
+Train Epoch 90
+{
+    "Log_Likelihood": 18.492452419281005,
+    "Loss": -18.492452419281005,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89215.24394405025,
+    "Time_Data_Loading": 0.02716251214345296,
+    "Time_Epoch": 0.5907603542009989,
+    "Time_Log_Info": 0.009964096546173095,
+    "Time_Process_Batch": 0.03259565830230713,
+    "Time_Train_Batch": 0.5171149651209513
+}
+
+Epoch 90 Memory Usage: 3060 MB
+
+
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 97%|#########7| 487/500 [00:32<00:00, 14.29it/s]
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 98%|#########8| 491/500 [00:33<00:00, 14.26it/s]
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100%|#########9| 499/500 [00:33<00:00, 14.50it/s]
100%|##########| 500/500 [00:33<00:00, 14.86it/s]
+Train Epoch 91
+{
+    "Log_Likelihood": 18.57975266647339,
+    "Loss": -18.57975266647339,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82770.2166511262,
+    "Time_Data_Loading": 0.02581899563471476,
+    "Time_Epoch": 0.5636309425036112,
+    "Time_Log_Info": 0.009816662470499674,
+    "Time_Process_Batch": 0.03224336306254069,
+    "Time_Train_Batch": 0.4921187917391459
+}
+
+Epoch 91 Memory Usage: 3060 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:34<00:00, 17.41it/s]
100%|##########| 500/500 [00:34<00:00, 14.44it/s]
+Train Epoch 92
+{
+    "Log_Likelihood": 18.531404113769533,
+    "Loss": -18.531404113769533,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88086.37163844515,
+    "Time_Data_Loading": 0.02654813528060913,
+    "Time_Epoch": 0.5802090048789978,
+    "Time_Log_Info": 0.009747469425201416,
+    "Time_Process_Batch": 0.032676605383555095,
+    "Time_Train_Batch": 0.5073960582415263
+}
+
+Epoch 92 Memory Usage: 3061 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.15it/s]
+Train Epoch 93
+{
+    "Log_Likelihood": 18.540084506988524,
+    "Loss": -18.540084506988524,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86465.5373727218,
+    "Time_Data_Loading": 0.02196512222290039,
+    "Time_Epoch": 0.46239404678344725,
+    "Time_Log_Info": 0.009988947709401449,
+    "Time_Process_Batch": 0.02534968455632528,
+    "Time_Train_Batch": 0.40128916104634604
+}
+
+Epoch 93 Memory Usage: 3061 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
+Train Epoch 94
+{
+    "Log_Likelihood": 18.598571884155273,
+    "Loss": -18.598571884155273,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82880.63694506553,
+    "Time_Data_Loading": 0.021546924114227296,
+    "Time_Epoch": 0.45788002808888756,
+    "Time_Log_Info": 0.010030909379323324,
+    "Time_Process_Batch": 0.023607965310414633,
+    "Time_Train_Batch": 0.3993942340215047
+}
+
+Epoch 94 Memory Usage: 3062 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.27it/s]
+Train Epoch 95
+{
+    "Log_Likelihood": 18.578432746887206,
+    "Loss": -18.578432746887206,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89194.88471115462,
+    "Time_Data_Loading": 0.022183680534362794,
+    "Time_Epoch": 0.45879555940628053,
+    "Time_Log_Info": 0.010077138741811117,
+    "Time_Process_Batch": 0.023491219679514567,
+    "Time_Train_Batch": 0.39972232580184935
+}
+
+Epoch 95 Memory Usage: 3062 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.23it/s]
100%|##########| 500/500 [00:27<00:00, 18.26it/s]
+Train Epoch 96
+{
+    "Log_Likelihood": 18.61677562713623,
+    "Loss": -18.61677562713623,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83576.9718084378,
+    "Time_Data_Loading": 0.02201720476150513,
+    "Time_Epoch": 0.4590945641199748,
+    "Time_Log_Info": 0.010028008619944255,
+    "Time_Process_Batch": 0.02362066904703776,
+    "Time_Train_Batch": 0.40014479955037435
+}
+
+Epoch 96 Memory Usage: 3063 MB
+
+
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  2%|1         | 9/500 [00:00<00:30, 16.26it/s]
  2%|2         | 11/500 [00:00<00:28, 17.09it/s]
  3%|2         | 13/500 [00:00<00:27, 17.47it/s]
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  5%|4         | 23/500 [00:01<00:25, 18.42it/s]
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  5%|5         | 27/500 [00:01<00:25, 18.42it/s]
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 13%|#3        | 65/500 [00:03<00:23, 18.42it/s]
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 14%|#3        | 69/500 [00:03<00:23, 18.46it/s]
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 15%|#4        | 73/500 [00:04<00:22, 18.58it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.22it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.32it/s]
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 34%|###3      | 169/500 [00:09<00:18, 18.35it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.37it/s]
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 37%|###6      | 183/500 [00:10<00:17, 18.44it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.38it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.45it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.46it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.43it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.37it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.43it/s]
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 91%|######### | 453/500 [00:24<00:02, 18.33it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.45it/s]
 91%|#########1| 457/500 [00:25<00:02, 18.33it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.41it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.36it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.26it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.21it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.37it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.27it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.35it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.33it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.38it/s]
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 96%|#########5| 479/500 [00:26<00:01, 18.46it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.47it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.32it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.40it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.27it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.36it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.35it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.19it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.17it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.10it/s]
100%|#########9| 499/500 [00:27<00:00, 18.22it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
+Train Epoch 97
+{
+    "Log_Likelihood": 18.621287883758544,
+    "Loss": -18.621287883758544,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 80413.80897097489,
+    "Time_Data_Loading": 0.022562845547993978,
+    "Time_Epoch": 0.45881425142288207,
+    "Time_Log_Info": 0.010103905200958252,
+    "Time_Process_Batch": 0.02335005203882853,
+    "Time_Train_Batch": 0.3993629693984985
+}
+
+Epoch 97 Memory Usage: 3063 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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  1%|          | 3/500 [00:00<00:45, 10.89it/s]
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 15%|#4        | 73/500 [00:04<00:22, 18.61it/s]
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 33%|###2      | 163/500 [00:08<00:18, 18.47it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.33it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.36it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.41it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.44it/s]
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 52%|#####1    | 259/500 [00:14<00:13, 18.21it/s]
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 54%|#####3    | 269/500 [00:14<00:12, 18.35it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.58it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.36it/s]
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 91%|######### | 453/500 [00:24<00:02, 18.25it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.37it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.29it/s]
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 96%|#########6| 481/500 [00:26<00:01, 18.12it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.05it/s]
 97%|#########7| 485/500 [00:26<00:00, 17.83it/s]
 97%|#########7| 487/500 [00:26<00:00, 17.88it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.05it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.05it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.13it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.09it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.12it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
+Train Epoch 98
+{
+    "Log_Likelihood": 18.62892691421509,
+    "Loss": -18.62892691421509,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83011.03147237607,
+    "Time_Data_Loading": 0.02226548194885254,
+    "Time_Epoch": 0.45864229996999106,
+    "Time_Log_Info": 0.010136131445566814,
+    "Time_Process_Batch": 0.023505667845408123,
+    "Time_Train_Batch": 0.3994890054066976
+}
+
+Epoch 98 Memory Usage: 3062 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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 24%|##3       | 119/500 [00:06<00:21, 17.94it/s]
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 50%|#####     | 251/500 [00:14<00:13, 18.35it/s]
 51%|#####     | 253/500 [00:14<00:13, 18.38it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.24it/s]
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 91%|#########1| 455/500 [00:25<00:02, 18.17it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.36it/s]
 97%|#########7| 487/500 [00:27<00:00, 18.44it/s]
 98%|#########7| 489/500 [00:27<00:00, 18.25it/s]
 98%|#########8| 491/500 [00:27<00:00, 18.33it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.35it/s]
100%|##########| 500/500 [00:27<00:00, 18.02it/s]
+Train Epoch 99
+{
+    "Log_Likelihood": 18.628984878540038,
+    "Loss": -18.628984878540038,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89765.03276205575,
+    "Time_Data_Loading": 0.02471905549367269,
+    "Time_Epoch": 0.46518335739771527,
+    "Time_Log_Info": 0.00993038813273112,
+    "Time_Process_Batch": 0.026146066188812257,
+    "Time_Train_Batch": 0.4010267496109009
+}
+
+Epoch 99 Memory Usage: 3063 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.38it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.48it/s]
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+Train Epoch 100
+{
+    "Log_Likelihood": 18.62774556350708,
+    "Loss": -18.62774556350708,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88543.19685246098,
+    "Time_Data_Loading": 0.022650285561879476,
+    "Time_Epoch": 0.4579753319422404,
+    "Time_Log_Info": 0.010168898105621337,
+    "Time_Process_Batch": 0.02337437868118286,
+    "Time_Train_Batch": 0.3983858346939087
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_100.pth
+
+Epoch 100 Memory Usage: 3064 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.41it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.44it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 101
+{
+    "Log_Likelihood": 18.595281509399413,
+    "Loss": -18.595281509399413,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82269.28161933845,
+    "Time_Data_Loading": 0.021950109799702962,
+    "Time_Epoch": 0.457234783967336,
+    "Time_Log_Info": 0.010137577851613363,
+    "Time_Process_Batch": 0.023328383763631184,
+    "Time_Train_Batch": 0.3985488772392273
+}
+
+Epoch 101 Memory Usage: 3064 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.21it/s]
100%|##########| 500/500 [00:27<00:00, 18.21it/s]
+Train Epoch 102
+{
+    "Log_Likelihood": 18.673113079071044,
+    "Loss": -18.673113079071044,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85416.168111212,
+    "Time_Data_Loading": 0.022276544570922853,
+    "Time_Epoch": 0.46040989955266315,
+    "Time_Log_Info": 0.01007701555887858,
+    "Time_Process_Batch": 0.024563817183176677,
+    "Time_Train_Batch": 0.4000608563423157
+}
+
+Epoch 102 Memory Usage: 3064 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 17.86it/s]
100%|##########| 500/500 [00:27<00:00, 18.23it/s]
+Train Epoch 103
+{
+    "Log_Likelihood": 18.699505321502684,
+    "Loss": -18.699505321502684,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85116.52519308576,
+    "Time_Data_Loading": 0.022752046585083008,
+    "Time_Epoch": 0.4601660132408142,
+    "Time_Log_Info": 0.010094666481018066,
+    "Time_Process_Batch": 0.023881828784942626,
+    "Time_Train_Batch": 0.39987656672795613
+}
+
+Epoch 103 Memory Usage: 3065 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.15it/s]
+Train Epoch 104
+{
+    "Log_Likelihood": 18.657677604675293,
+    "Loss": -18.657677604675293,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83479.94961997384,
+    "Time_Data_Loading": 0.02324743668238322,
+    "Time_Epoch": 0.4623370409011841,
+    "Time_Log_Info": 0.01001134713490804,
+    "Time_Process_Batch": 0.024955658117930095,
+    "Time_Train_Batch": 0.4003279685974121
+}
+
+Epoch 104 Memory Usage: 3065 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.15it/s]
+Train Epoch 105
+{
+    "Log_Likelihood": 18.673456520080567,
+    "Loss": -18.673456520080567,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86419.06139458848,
+    "Time_Data_Loading": 0.0234511137008667,
+    "Time_Epoch": 0.46182178258895873,
+    "Time_Log_Info": 0.010020009676615397,
+    "Time_Process_Batch": 0.024971052010854086,
+    "Time_Train_Batch": 0.40001440048217773
+}
+
+Epoch 105 Memory Usage: 3066 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.20it/s]
+Train Epoch 106
+{
+    "Log_Likelihood": 18.671310985565185,
+    "Loss": -18.671310985565185,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90291.59659326426,
+    "Time_Data_Loading": 0.02271507978439331,
+    "Time_Epoch": 0.46068839232126874,
+    "Time_Log_Info": 0.010043581326802572,
+    "Time_Process_Batch": 0.02438787619272868,
+    "Time_Train_Batch": 0.4001115004221598
+}
+
+Epoch 106 Memory Usage: 3066 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.25it/s]
100%|##########| 500/500 [00:27<00:00, 18.21it/s]
+Train Epoch 107
+{
+    "Log_Likelihood": 18.732033866882325,
+    "Loss": -18.732033866882325,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84242.84810268003,
+    "Time_Data_Loading": 0.02160238822301229,
+    "Time_Epoch": 0.4603563586870829,
+    "Time_Log_Info": 0.009965217113494873,
+    "Time_Process_Batch": 0.02443453868230184,
+    "Time_Train_Batch": 0.4009457151095072
+}
+
+Epoch 107 Memory Usage: 3066 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.23it/s]
100%|##########| 500/500 [00:27<00:00, 18.00it/s]
+Train Epoch 108
+{
+    "Log_Likelihood": 18.67481111907959,
+    "Loss": -18.67481111907959,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85385.1458423078,
+    "Time_Data_Loading": 0.023192207018534344,
+    "Time_Epoch": 0.46573760906855266,
+    "Time_Log_Info": 0.00976270039876302,
+    "Time_Process_Batch": 0.026595226923624673,
+    "Time_Train_Batch": 0.4029164711634318
+}
+
+Epoch 108 Memory Usage: 3067 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.23it/s]
100%|##########| 500/500 [00:27<00:00, 18.10it/s]
+Train Epoch 109
+{
+    "Log_Likelihood": 18.63943988418579,
+    "Loss": -18.63943988418579,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82877.33658741061,
+    "Time_Data_Loading": 0.022869805494944256,
+    "Time_Epoch": 0.46318727334340415,
+    "Time_Log_Info": 0.009849361578623454,
+    "Time_Process_Batch": 0.024959301948547362,
+    "Time_Train_Batch": 0.40216321547826134
+}
+
+Epoch 109 Memory Usage: 3067 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.21it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
+Train Epoch 110
+{
+    "Log_Likelihood": 18.748125007629394,
+    "Loss": -18.748125007629394,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89196.81654676603,
+    "Time_Data_Loading": 0.022078506151835122,
+    "Time_Epoch": 0.45781699816385907,
+    "Time_Log_Info": 0.010111316045125326,
+    "Time_Process_Batch": 0.02373574177424113,
+    "Time_Train_Batch": 0.39847919940948484
+}
+
+Epoch 110 Memory Usage: 3067 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.31it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 111
+{
+    "Log_Likelihood": 18.733553939819338,
+    "Loss": -18.733553939819338,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86374.89917487201,
+    "Time_Data_Loading": 0.022600515683492025,
+    "Time_Epoch": 0.4575234373410543,
+    "Time_Log_Info": 0.01018962065378825,
+    "Time_Process_Batch": 0.023169060548146565,
+    "Time_Train_Batch": 0.3981561263402303
+}
+
+Epoch 111 Memory Usage: 3068 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.65it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 112
+{
+    "Log_Likelihood": 18.75457601928711,
+    "Loss": -18.75457601928711,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93440.06979715171,
+    "Time_Data_Loading": 0.021685155232747395,
+    "Time_Epoch": 0.4557746092478434,
+    "Time_Log_Info": 0.010195124149322509,
+    "Time_Process_Batch": 0.02264977296193441,
+    "Time_Train_Batch": 0.39798394044240315
+}
+
+Epoch 112 Memory Usage: 3069 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.19it/s]
+Train Epoch 113
+{
+    "Log_Likelihood": 18.802582080841063,
+    "Loss": -18.802582080841063,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85068.36818244639,
+    "Time_Data_Loading": 0.023085506757100423,
+    "Time_Epoch": 0.46085132360458375,
+    "Time_Log_Info": 0.010043521722157797,
+    "Time_Process_Batch": 0.02455128828684489,
+    "Time_Train_Batch": 0.39980570872624716
+}
+
+Epoch 113 Memory Usage: 3068 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.21it/s]
100%|##########| 500/500 [00:27<00:00, 18.14it/s]
+Train Epoch 114
+{
+    "Log_Likelihood": 18.77661420059204,
+    "Loss": -18.77661420059204,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87492.8973744833,
+    "Time_Data_Loading": 0.023817078272501627,
+    "Time_Epoch": 0.46233275334040325,
+    "Time_Log_Info": 0.009986400604248047,
+    "Time_Process_Batch": 0.024690083662668862,
+    "Time_Train_Batch": 0.40036163330078123
+}
+
+Epoch 114 Memory Usage: 3068 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.16it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
+Train Epoch 115
+{
+    "Log_Likelihood": 18.799908878326416,
+    "Loss": -18.799908878326416,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90367.72968738472,
+    "Time_Data_Loading": 0.022272459665934243,
+    "Time_Epoch": 0.4578010320663452,
+    "Time_Log_Info": 0.010153639316558837,
+    "Time_Process_Batch": 0.02351539134979248,
+    "Time_Train_Batch": 0.3985524535179138
+}
+
+Epoch 115 Memory Usage: 3069 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.14it/s]
+Train Epoch 116
+{
+    "Log_Likelihood": 18.818443489074706,
+    "Loss": -18.818443489074706,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83949.53505993611,
+    "Time_Data_Loading": 0.02333672046661377,
+    "Time_Epoch": 0.46226755777994794,
+    "Time_Log_Info": 0.01001507043838501,
+    "Time_Process_Batch": 0.025067432721455892,
+    "Time_Train_Batch": 0.4003979841868083
+}
+
+Epoch 116 Memory Usage: 3069 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
+Train Epoch 117
+{
+    "Log_Likelihood": 18.821693256378175,
+    "Loss": -18.821693256378175,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83201.90933592133,
+    "Time_Data_Loading": 0.021871328353881836,
+    "Time_Epoch": 0.4588825146357218,
+    "Time_Log_Info": 0.010070284207661947,
+    "Time_Process_Batch": 0.02387003501256307,
+    "Time_Train_Batch": 0.39961277643839516
+}
+
+Epoch 117 Memory Usage: 3070 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 118
+{
+    "Log_Likelihood": 18.812804946899416,
+    "Loss": -18.812804946899416,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85679.10151993799,
+    "Time_Data_Loading": 0.02197580337524414,
+    "Time_Epoch": 0.45850930611292523,
+    "Time_Log_Info": 0.01010118325551351,
+    "Time_Process_Batch": 0.023752133051554363,
+    "Time_Train_Batch": 0.3990991910298665
+}
+
+Epoch 118 Memory Usage: 3071 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.24it/s]
+Train Epoch 119
+{
+    "Log_Likelihood": 18.81914354324341,
+    "Loss": -18.81914354324341,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88863.24696949984,
+    "Time_Data_Loading": 0.02238028049468994,
+    "Time_Epoch": 0.4596110820770264,
+    "Time_Log_Info": 0.00998780330022176,
+    "Time_Process_Batch": 0.024143441518147787,
+    "Time_Train_Batch": 0.39972790082295734
+}
+
+Epoch 119 Memory Usage: 3070 MB
+
+
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+Train Epoch 120
+{
+    "Log_Likelihood": 18.83322048187256,
+    "Loss": -18.83322048187256,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82234.4409575681,
+    "Time_Data_Loading": 0.02268209457397461,
+    "Time_Epoch": 0.4619904041290283,
+    "Time_Log_Info": 0.01000911792119344,
+    "Time_Process_Batch": 0.02465360164642334,
+    "Time_Train_Batch": 0.4012721578280131
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_120.pth
+
+Epoch 120 Memory Usage: 3071 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.23it/s]
+Train Epoch 121
+{
+    "Log_Likelihood": 18.824291820526124,
+    "Loss": -18.824291820526124,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86182.26586685162,
+    "Time_Data_Loading": 0.022348511219024658,
+    "Time_Epoch": 0.46013660033543907,
+    "Time_Log_Info": 0.010063421726226807,
+    "Time_Process_Batch": 0.024381200472513836,
+    "Time_Train_Batch": 0.3998814582824707
+}
+
+Epoch 121 Memory Usage: 3071 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 122
+{
+    "Log_Likelihood": 18.791279846191408,
+    "Loss": -18.791279846191408,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90615.70365069967,
+    "Time_Data_Loading": 0.022503741582234702,
+    "Time_Epoch": 0.4573055346806844,
+    "Time_Log_Info": 0.010141277313232422,
+    "Time_Process_Batch": 0.02336463928222656,
+    "Time_Train_Batch": 0.3980050047238668
+}
+
+Epoch 122 Memory Usage: 3072 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.14it/s]
100%|##########| 500/500 [00:27<00:00, 18.22it/s]
+Train Epoch 123
+{
+    "Log_Likelihood": 18.86245143508911,
+    "Loss": -18.86245143508911,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90221.10672441643,
+    "Time_Data_Loading": 0.0229689359664917,
+    "Time_Epoch": 0.4601736148198446,
+    "Time_Log_Info": 0.010085904598236084,
+    "Time_Process_Batch": 0.0238374392191569,
+    "Time_Train_Batch": 0.3999098459879557
+}
+
+Epoch 123 Memory Usage: 3072 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 124
+{
+    "Log_Likelihood": 18.870067779541017,
+    "Loss": -18.870067779541017,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 81849.02852592123,
+    "Time_Data_Loading": 0.02233388026555379,
+    "Time_Epoch": 0.45815863609313967,
+    "Time_Log_Info": 0.010087128480275471,
+    "Time_Process_Batch": 0.023338568210601807,
+    "Time_Train_Batch": 0.3990747849146525
+}
+
+Epoch 124 Memory Usage: 3072 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.27it/s]
+Train Epoch 125
+{
+    "Log_Likelihood": 18.86871519088745,
+    "Loss": -18.86871519088745,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 80370.95418669465,
+    "Time_Data_Loading": 0.02256139914194743,
+    "Time_Epoch": 0.45904921690622963,
+    "Time_Log_Info": 0.010124572118123372,
+    "Time_Process_Batch": 0.023715547720591226,
+    "Time_Train_Batch": 0.39919673204421996
+}
+
+Epoch 125 Memory Usage: 3072 MB
+
+
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 50%|#####     | 251/500 [00:13<00:13, 18.22it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.14it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.04it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.38it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.32it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.32it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.39it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.36it/s]
 99%|#########8| 493/500 [00:27<00:00, 18.47it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.46it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.24it/s]
+Train Epoch 126
+{
+    "Log_Likelihood": 18.885275756835938,
+    "Loss": -18.885275756835938,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87665.40783303732,
+    "Time_Data_Loading": 0.023048543930053712,
+    "Time_Epoch": 0.45964220762252805,
+    "Time_Log_Info": 0.010120197137196859,
+    "Time_Process_Batch": 0.02365770737330119,
+    "Time_Train_Batch": 0.39947775999705
+}
+
+Epoch 126 Memory Usage: 3073 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.05it/s]
100%|##########| 500/500 [00:27<00:00, 18.23it/s]
+Train Epoch 127
+{
+    "Log_Likelihood": 18.892344734191894,
+    "Loss": -18.892344734191894,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87711.73318531392,
+    "Time_Data_Loading": 0.023313494523366292,
+    "Time_Epoch": 0.46007140080134074,
+    "Time_Log_Info": 0.010155693689982096,
+    "Time_Process_Batch": 0.02355160315831502,
+    "Time_Train_Batch": 0.39950554768244423
+}
+
+Epoch 127 Memory Usage: 3072 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
+Train Epoch 128
+{
+    "Log_Likelihood": 18.908487018585205,
+    "Loss": -18.908487018585205,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87013.94800620944,
+    "Time_Data_Loading": 0.022480185826619467,
+    "Time_Epoch": 0.45877923965454104,
+    "Time_Log_Info": 0.010145950317382812,
+    "Time_Process_Batch": 0.023446162541707356,
+    "Time_Train_Batch": 0.39924030303955077
+}
+
+Epoch 128 Memory Usage: 3074 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.26it/s]
+Train Epoch 129
+{
+    "Log_Likelihood": 18.916594577789308,
+    "Loss": -18.916594577789308,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89032.16194140098,
+    "Time_Data_Loading": 0.023052497704823812,
+    "Time_Epoch": 0.4592632293701172,
+    "Time_Log_Info": 0.010099395116170248,
+    "Time_Process_Batch": 0.023157207171122234,
+    "Time_Train_Batch": 0.3993865450223287
+}
+
+Epoch 129 Memory Usage: 3074 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.12it/s]
100%|##########| 500/500 [00:27<00:00, 18.21it/s]
+Train Epoch 130
+{
+    "Log_Likelihood": 18.914298248291015,
+    "Loss": -18.914298248291015,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84501.38825102797,
+    "Time_Data_Loading": 0.0237196683883667,
+    "Time_Epoch": 0.46038230657577517,
+    "Time_Log_Info": 0.010110064347585043,
+    "Time_Process_Batch": 0.02419434388478597,
+    "Time_Train_Batch": 0.3989457329114278
+}
+
+Epoch 130 Memory Usage: 3074 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.27it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 131
+{
+    "Log_Likelihood": 18.90867671585083,
+    "Loss": -18.90867671585083,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89349.07273964825,
+    "Time_Data_Loading": 0.022282095750172932,
+    "Time_Epoch": 0.45844818353652955,
+    "Time_Log_Info": 0.010120824972788493,
+    "Time_Process_Batch": 0.023120983441670736,
+    "Time_Train_Batch": 0.39932700792948406
+}
+
+Epoch 131 Memory Usage: 3075 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.24it/s]
100%|##########| 500/500 [00:27<00:00, 18.22it/s]
+Train Epoch 132
+{
+    "Log_Likelihood": 18.870122940063478,
+    "Loss": -18.870122940063478,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92079.72227155072,
+    "Time_Data_Loading": 0.02291959524154663,
+    "Time_Epoch": 0.4603017807006836,
+    "Time_Log_Info": 0.010091344515482584,
+    "Time_Process_Batch": 0.024089701970418296,
+    "Time_Train_Batch": 0.3997613032658895
+}
+
+Epoch 132 Memory Usage: 3075 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.06it/s]
100%|##########| 500/500 [00:27<00:00, 18.14it/s]
+Train Epoch 133
+{
+    "Log_Likelihood": 18.92504014968872,
+    "Loss": -18.92504014968872,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84539.18524315507,
+    "Time_Data_Loading": 0.02398250102996826,
+    "Time_Epoch": 0.4626929004987081,
+    "Time_Log_Info": 0.010040465990702312,
+    "Time_Process_Batch": 0.024770140647888184,
+    "Time_Train_Batch": 0.4000019868214925
+}
+
+Epoch 133 Memory Usage: 3075 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.32it/s]
100%|##########| 500/500 [00:27<00:00, 18.29it/s]
+Train Epoch 134
+{
+    "Log_Likelihood": 18.943994453430175,
+    "Loss": -18.943994453430175,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89955.78007708902,
+    "Time_Data_Loading": 0.02253218094507853,
+    "Time_Epoch": 0.45834474166234335,
+    "Time_Log_Info": 0.0101339856783549,
+    "Time_Process_Batch": 0.02322144905726115,
+    "Time_Train_Batch": 0.3991102894147237
+}
+
+Epoch 134 Memory Usage: 3075 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 135
+{
+    "Log_Likelihood": 18.922494606018066,
+    "Loss": -18.922494606018066,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87102.99701885435,
+    "Time_Data_Loading": 0.022367676099141438,
+    "Time_Epoch": 0.4581899642944336,
+    "Time_Log_Info": 0.010075024763743083,
+    "Time_Process_Batch": 0.02338087558746338,
+    "Time_Train_Batch": 0.39902408520380656
+}
+
+Epoch 135 Memory Usage: 3076 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 136
+{
+    "Log_Likelihood": 18.982744205474855,
+    "Loss": -18.982744205474855,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88642.8254597551,
+    "Time_Data_Loading": 0.02235417366027832,
+    "Time_Epoch": 0.45820485750834145,
+    "Time_Log_Info": 0.010161638259887695,
+    "Time_Process_Batch": 0.022960881392161053,
+    "Time_Train_Batch": 0.3992745836575826
+}
+
+Epoch 136 Memory Usage: 3076 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
+Train Epoch 137
+{
+    "Log_Likelihood": 18.962594680786133,
+    "Loss": -18.962594680786133,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87269.24771434818,
+    "Time_Data_Loading": 0.02273168961207072,
+    "Time_Epoch": 0.4585216879844666,
+    "Time_Log_Info": 0.010119342803955078,
+    "Time_Process_Batch": 0.023493218421936034,
+    "Time_Train_Batch": 0.3988582730293274
+}
+
+Epoch 137 Memory Usage: 3076 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 138
+{
+    "Log_Likelihood": 18.973602130889894,
+    "Loss": -18.973602130889894,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85008.2331272974,
+    "Time_Data_Loading": 0.021643765767415366,
+    "Time_Epoch": 0.45686319669087727,
+    "Time_Log_Info": 0.010121262073516846,
+    "Time_Process_Batch": 0.022854308287302654,
+    "Time_Train_Batch": 0.39892784754435223
+}
+
+Epoch 138 Memory Usage: 3077 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 139
+{
+    "Log_Likelihood": 18.987033199310304,
+    "Loss": -18.987033199310304,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84846.39618528822,
+    "Time_Data_Loading": 0.02068157196044922,
+    "Time_Epoch": 0.45425023237864176,
+    "Time_Log_Info": 0.010243078072865805,
+    "Time_Process_Batch": 0.022167710463205974,
+    "Time_Train_Batch": 0.39785145918528236
+}
+
+Epoch 139 Memory Usage: 3077 MB
+
+
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+Train Epoch 140
+{
+    "Log_Likelihood": 18.9707696723938,
+    "Loss": -18.9707696723938,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85003.36277490473,
+    "Time_Data_Loading": 0.020554606119791666,
+    "Time_Epoch": 0.4543877879778544,
+    "Time_Log_Info": 0.010223309199015299,
+    "Time_Process_Batch": 0.02222243547439575,
+    "Time_Train_Batch": 0.39812650680541994
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_140.pth
+
+Epoch 140 Memory Usage: 3076 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.31it/s]
+Train Epoch 141
+{
+    "Log_Likelihood": 18.943152976989747,
+    "Loss": -18.943152976989747,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94598.11708883739,
+    "Time_Data_Loading": 0.02101339101791382,
+    "Time_Epoch": 0.4579805056254069,
+    "Time_Log_Info": 0.010075728098551432,
+    "Time_Process_Batch": 0.023107353846232095,
+    "Time_Train_Batch": 0.4003327409426371
+}
+
+Epoch 141 Memory Usage: 3078 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 142
+{
+    "Log_Likelihood": 18.97334501647949,
+    "Loss": -18.97334501647949,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83202.692123005,
+    "Time_Data_Loading": 0.021600417296091714,
+    "Time_Epoch": 0.4573939561843872,
+    "Time_Log_Info": 0.01010662317276001,
+    "Time_Process_Batch": 0.023499691486358644,
+    "Time_Train_Batch": 0.3987576683362325
+}
+
+Epoch 142 Memory Usage: 3078 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.27it/s]
+Train Epoch 143
+{
+    "Log_Likelihood": 19.01339864349365,
+    "Loss": -19.01339864349365,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85332.17088628723,
+    "Time_Data_Loading": 0.02206583817799886,
+    "Time_Epoch": 0.4590377926826477,
+    "Time_Log_Info": 0.010016032059987386,
+    "Time_Process_Batch": 0.023635645707448322,
+    "Time_Train_Batch": 0.3999441146850586
+}
+
+Epoch 143 Memory Usage: 3079 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.18it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.26it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.22it/s]
+Train Epoch 144
+{
+    "Log_Likelihood": 19.023012699127197,
+    "Loss": -19.023012699127197,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85683.48850305544,
+    "Time_Data_Loading": 0.022459876537323,
+    "Time_Epoch": 0.46023237705230713,
+    "Time_Log_Info": 0.00999744733174642,
+    "Time_Process_Batch": 0.024031174182891846,
+    "Time_Train_Batch": 0.40037169853846233
+}
+
+Epoch 144 Memory Usage: 3078 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.24it/s]
+Train Epoch 145
+{
+    "Log_Likelihood": 19.049658977508546,
+    "Loss": -19.049658977508546,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85217.87572212351,
+    "Time_Data_Loading": 0.022131450970967612,
+    "Time_Epoch": 0.45963242451349895,
+    "Time_Log_Info": 0.010024182001749675,
+    "Time_Process_Batch": 0.024460713068644207,
+    "Time_Train_Batch": 0.39966859022776285
+}
+
+Epoch 145 Memory Usage: 3078 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.35it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 146
+{
+    "Log_Likelihood": 19.052188591003418,
+    "Loss": -19.052188591003418,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83924.97783506579,
+    "Time_Data_Loading": 0.020158040523529052,
+    "Time_Epoch": 0.4546110987663269,
+    "Time_Log_Info": 0.010145099957784016,
+    "Time_Process_Batch": 0.022299341360727944,
+    "Time_Train_Batch": 0.39864133993784584
+}
+
+Epoch 146 Memory Usage: 3078 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 147
+{
+    "Log_Likelihood": 19.007371559143067,
+    "Loss": -19.007371559143067,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86740.89150828752,
+    "Time_Data_Loading": 0.020824110507965087,
+    "Time_Epoch": 0.45455768903096516,
+    "Time_Log_Info": 0.010180199146270752,
+    "Time_Process_Batch": 0.02225393056869507,
+    "Time_Train_Batch": 0.3980372508366903
+}
+
+Epoch 147 Memory Usage: 3079 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.72it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 148
+{
+    "Log_Likelihood": 19.028234939575196,
+    "Loss": -19.028234939575196,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87545.51419479615,
+    "Time_Data_Loading": 0.02140383720397949,
+    "Time_Epoch": 0.4556167205174764,
+    "Time_Log_Info": 0.010160481929779053,
+    "Time_Process_Batch": 0.022505231698354087,
+    "Time_Train_Batch": 0.39825720389684044
+}
+
+Epoch 148 Memory Usage: 3079 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 149
+{
+    "Log_Likelihood": 19.062912731170655,
+    "Loss": -19.062912731170655,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83668.68743637741,
+    "Time_Data_Loading": 0.021233495076497397,
+    "Time_Epoch": 0.45510828495025635,
+    "Time_Log_Info": 0.010212449232737224,
+    "Time_Process_Batch": 0.022306537628173827,
+    "Time_Train_Batch": 0.3980176488558451
+}
+
+Epoch 149 Memory Usage: 3080 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 150
+{
+    "Log_Likelihood": 19.058453563690186,
+    "Loss": -19.058453563690186,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85387.36710387273,
+    "Time_Data_Loading": 0.02100727955500285,
+    "Time_Epoch": 0.45518530209859215,
+    "Time_Log_Info": 0.010146999359130859,
+    "Time_Process_Batch": 0.021900169054667153,
+    "Time_Train_Batch": 0.39872167507807416
+}
+
+Epoch 150 Memory Usage: 3081 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.32it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 151
+{
+    "Log_Likelihood": 19.05760403442383,
+    "Loss": -19.05760403442383,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85885.85153647976,
+    "Time_Data_Loading": 0.021784873803456624,
+    "Time_Epoch": 0.45556413332621254,
+    "Time_Log_Info": 0.010237510999043782,
+    "Time_Process_Batch": 0.02252136468887329,
+    "Time_Train_Batch": 0.39766236146291095
+}
+
+Epoch 151 Memory Usage: 3081 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 152
+{
+    "Log_Likelihood": 19.047487560272216,
+    "Loss": -19.047487560272216,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90379.65484591413,
+    "Time_Data_Loading": 0.020873812834421794,
+    "Time_Epoch": 0.45439630349477134,
+    "Time_Log_Info": 0.010227557023366292,
+    "Time_Process_Batch": 0.02192845344543457,
+    "Time_Train_Batch": 0.3977872411410014
+}
+
+Epoch 152 Memory Usage: 3081 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 153
+{
+    "Log_Likelihood": 19.034956031799318,
+    "Loss": -19.034956031799318,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89525.83145232589,
+    "Time_Data_Loading": 0.021323148409525552,
+    "Time_Epoch": 0.45539745887120564,
+    "Time_Log_Info": 0.010189425945281983,
+    "Time_Process_Batch": 0.02224891185760498,
+    "Time_Train_Batch": 0.39837164084116616
+}
+
+Epoch 153 Memory Usage: 3099 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.55it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.68it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 154
+{
+    "Log_Likelihood": 19.08296075439453,
+    "Loss": -19.08296075439453,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86531.44390830543,
+    "Time_Data_Loading": 0.020666118462880453,
+    "Time_Epoch": 0.4540477474530538,
+    "Time_Log_Info": 0.010221457481384278,
+    "Time_Process_Batch": 0.02188850243886312,
+    "Time_Train_Batch": 0.39796841939290367
+}
+
+Epoch 154 Memory Usage: 3099 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 155
+{
+    "Log_Likelihood": 19.025932563781737,
+    "Loss": -19.025932563781737,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91933.38400172078,
+    "Time_Data_Loading": 0.020450238386789957,
+    "Time_Epoch": 0.45386027097702025,
+    "Time_Log_Info": 0.0102363387743632,
+    "Time_Process_Batch": 0.022104124228159588,
+    "Time_Train_Batch": 0.3978298107783
+}
+
+Epoch 155 Memory Usage: 3099 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 156
+{
+    "Log_Likelihood": 19.08166583251953,
+    "Loss": -19.08166583251953,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83916.96585355715,
+    "Time_Data_Loading": 0.02057538429896037,
+    "Time_Epoch": 0.45380006233851117,
+    "Time_Log_Info": 0.010251792271931966,
+    "Time_Process_Batch": 0.02178894281387329,
+    "Time_Train_Batch": 0.3979243199030558
+}
+
+Epoch 156 Memory Usage: 3099 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 157
+{
+    "Log_Likelihood": 19.11987378692627,
+    "Loss": -19.11987378692627,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85842.92653639334,
+    "Time_Data_Loading": 0.021263297398885092,
+    "Time_Epoch": 0.4558322310447693,
+    "Time_Log_Info": 0.010202181339263917,
+    "Time_Process_Batch": 0.022684288024902344,
+    "Time_Train_Batch": 0.398352857430776
+}
+
+Epoch 157 Memory Usage: 3100 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.64it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 158
+{
+    "Log_Likelihood": 19.12033589553833,
+    "Loss": -19.12033589553833,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87426.43798075817,
+    "Time_Data_Loading": 0.02101907730102539,
+    "Time_Epoch": 0.45493465662002563,
+    "Time_Log_Info": 0.010225677490234375,
+    "Time_Process_Batch": 0.022145164012908936,
+    "Time_Train_Batch": 0.3981815497080485
+}
+
+Epoch 158 Memory Usage: 3100 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.73it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 159
+{
+    "Log_Likelihood": 19.095145065307616,
+    "Loss": -19.095145065307616,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90324.80363557115,
+    "Time_Data_Loading": 0.020840803782145183,
+    "Time_Epoch": 0.45456756750742594,
+    "Time_Log_Info": 0.01021122932434082,
+    "Time_Process_Batch": 0.02206430435180664,
+    "Time_Train_Batch": 0.398151703675588
+}
+
+Epoch 159 Memory Usage: 3101 MB
+
+
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+Train Epoch 160
+{
+    "Log_Likelihood": 19.09688417816162,
+    "Loss": -19.09688417816162,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92254.56466693318,
+    "Time_Data_Loading": 0.021092577775319418,
+    "Time_Epoch": 0.455116335550944,
+    "Time_Log_Info": 0.010221699873606363,
+    "Time_Process_Batch": 0.022165775299072266,
+    "Time_Train_Batch": 0.3981399575869242
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_160.pth
+
+Epoch 160 Memory Usage: 3101 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.73it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 161
+{
+    "Log_Likelihood": 19.087433265686034,
+    "Loss": -19.087433265686034,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94787.08305813503,
+    "Time_Data_Loading": 0.020827507972717284,
+    "Time_Epoch": 0.4539455691973368,
+    "Time_Log_Info": 0.01024562915166219,
+    "Time_Process_Batch": 0.0217022975285848,
+    "Time_Train_Batch": 0.39785899718602497
+}
+
+Epoch 161 Memory Usage: 3101 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 162
+{
+    "Log_Likelihood": 19.11851675796509,
+    "Loss": -19.11851675796509,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90055.9432843915,
+    "Time_Data_Loading": 0.0210454265276591,
+    "Time_Epoch": 0.45505207777023315,
+    "Time_Log_Info": 0.010217054684956869,
+    "Time_Process_Batch": 0.02215759754180908,
+    "Time_Train_Batch": 0.3980518500010172
+}
+
+Epoch 162 Memory Usage: 3102 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 163
+{
+    "Log_Likelihood": 19.142464027404785,
+    "Loss": -19.142464027404785,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 80795.9193461917,
+    "Time_Data_Loading": 0.021374722321828205,
+    "Time_Epoch": 0.45554285049438475,
+    "Time_Log_Info": 0.010230127970377605,
+    "Time_Process_Batch": 0.02246989409128825,
+    "Time_Train_Batch": 0.3981158216794332
+}
+
+Epoch 163 Memory Usage: 3102 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.73it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 164
+{
+    "Log_Likelihood": 19.11390752029419,
+    "Loss": -19.11390752029419,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93397.29997017309,
+    "Time_Data_Loading": 0.02066650390625,
+    "Time_Epoch": 0.4544442892074585,
+    "Time_Log_Info": 0.0101936936378479,
+    "Time_Process_Batch": 0.022199312845865887,
+    "Time_Train_Batch": 0.39814507961273193
+}
+
+Epoch 164 Memory Usage: 3102 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 165
+{
+    "Log_Likelihood": 19.12752780532837,
+    "Loss": -19.12752780532837,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95274.40706362006,
+    "Time_Data_Loading": 0.021459261576334637,
+    "Time_Epoch": 0.45532997051874796,
+    "Time_Log_Info": 0.010211634635925292,
+    "Time_Process_Batch": 0.022557767232259114,
+    "Time_Train_Batch": 0.3978195349375407
+}
+
+Epoch 165 Memory Usage: 3102 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 166
+{
+    "Log_Likelihood": 19.084812740325926,
+    "Loss": -19.084812740325926,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88062.22976643738,
+    "Time_Data_Loading": 0.021054999033610026,
+    "Time_Epoch": 0.4542701562245687,
+    "Time_Log_Info": 0.010234777132670085,
+    "Time_Process_Batch": 0.021768383185068765,
+    "Time_Train_Batch": 0.39790822664896647
+}
+
+Epoch 166 Memory Usage: 3102 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.33it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 167
+{
+    "Log_Likelihood": 19.15574633407593,
+    "Loss": -19.15574633407593,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82451.72567730832,
+    "Time_Data_Loading": 0.020842214425404865,
+    "Time_Epoch": 0.454469100634257,
+    "Time_Log_Info": 0.01020795504252116,
+    "Time_Process_Batch": 0.022303585211435953,
+    "Time_Train_Batch": 0.39782654444376625
+}
+
+Epoch 167 Memory Usage: 3102 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.21it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 168
+{
+    "Log_Likelihood": 19.175229141235352,
+    "Loss": -19.175229141235352,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88378.60895266922,
+    "Time_Data_Loading": 0.020516757170359293,
+    "Time_Epoch": 0.45294921000798544,
+    "Time_Log_Info": 0.010209556420644124,
+    "Time_Process_Batch": 0.02164828379948934,
+    "Time_Train_Batch": 0.39725740750630695
+}
+
+Epoch 168 Memory Usage: 3103 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.27it/s]
+Train Epoch 169
+{
+    "Log_Likelihood": 19.114553150177002,
+    "Loss": -19.114553150177002,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92421.93537120963,
+    "Time_Data_Loading": 0.021313623587290446,
+    "Time_Epoch": 0.459142259756724,
+    "Time_Log_Info": 0.009992881615956625,
+    "Time_Process_Batch": 0.02373631000518799,
+    "Time_Train_Batch": 0.4005597313245138
+}
+
+Epoch 169 Memory Usage: 3103 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
+Train Epoch 170
+{
+    "Log_Likelihood": 19.184301376342773,
+    "Loss": -19.184301376342773,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89078.0709700719,
+    "Time_Data_Loading": 0.021449553966522216,
+    "Time_Epoch": 0.4568942546844482,
+    "Time_Log_Info": 0.01008755366007487,
+    "Time_Process_Batch": 0.02312888701756795,
+    "Time_Train_Batch": 0.3987372557322184
+}
+
+Epoch 170 Memory Usage: 3104 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.21it/s]
+Train Epoch 171
+{
+    "Log_Likelihood": 19.172185947418214,
+    "Loss": -19.172185947418214,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91791.65639983061,
+    "Time_Data_Loading": 0.02135841449101766,
+    "Time_Epoch": 0.4604823152224223,
+    "Time_Log_Info": 0.009940214951833089,
+    "Time_Process_Batch": 0.02415460745493571,
+    "Time_Train_Batch": 0.4016529719034831
+}
+
+Epoch 171 Memory Usage: 3104 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:36,  5.16it/s]
  1%|          | 3/500 [00:00<00:46, 10.76it/s]
  1%|1         | 5/500 [00:00<00:36, 13.47it/s]
  1%|1         | 7/500 [00:00<00:32, 15.11it/s]
  2%|1         | 9/500 [00:00<00:30, 16.26it/s]
  2%|2         | 11/500 [00:00<00:28, 17.08it/s]
  3%|2         | 13/500 [00:00<00:27, 17.52it/s]
  3%|3         | 15/500 [00:00<00:27, 17.57it/s]
  3%|3         | 17/500 [00:01<00:26, 17.93it/s]
  4%|3         | 19/500 [00:01<00:26, 18.01it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.21it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.13it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.24it/s]
 51%|#####     | 253/500 [00:14<00:13, 18.24it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.13it/s]
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 91%|######### | 453/500 [00:24<00:02, 18.37it/s]
 91%|#########1| 455/500 [00:25<00:02, 18.17it/s]
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 92%|#########1| 459/500 [00:25<00:02, 18.26it/s]
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 93%|#########2| 463/500 [00:25<00:02, 18.38it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.42it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.51it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.46it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.51it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.52it/s]
 95%|#########5| 475/500 [00:26<00:01, 18.56it/s]
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 97%|#########6| 483/500 [00:26<00:00, 18.56it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.65it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.64it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.55it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.20it/s]
 99%|#########8| 493/500 [00:27<00:00, 18.15it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.22it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.28it/s]
100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.21it/s]
+Train Epoch 172
+{
+    "Log_Likelihood": 19.223400955200194,
+    "Loss": -19.223400955200194,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 82523.77325835792,
+    "Time_Data_Loading": 0.021985705693562826,
+    "Time_Epoch": 0.46069284280141193,
+    "Time_Log_Info": 0.00992587407430013,
+    "Time_Process_Batch": 0.024393097559611002,
+    "Time_Train_Batch": 0.4007070263226827
+}
+
+Epoch 172 Memory Usage: 3105 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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  1%|          | 3/500 [00:00<00:45, 10.91it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.53it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.58it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.28it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
+Train Epoch 173
+{
+    "Log_Likelihood": 19.20050347518921,
+    "Loss": -19.20050347518921,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85731.43972964698,
+    "Time_Data_Loading": 0.021840973695119222,
+    "Time_Epoch": 0.4578861117362976,
+    "Time_Log_Info": 0.010079272588094075,
+    "Time_Process_Batch": 0.023524761199951172,
+    "Time_Train_Batch": 0.3988077720006307
+}
+
+Epoch 173 Memory Usage: 3105 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 174
+{
+    "Log_Likelihood": 19.201804973602297,
+    "Loss": -19.201804973602297,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83722.9950652917,
+    "Time_Data_Loading": 0.021299540996551514,
+    "Time_Epoch": 0.45630598862965904,
+    "Time_Log_Info": 0.01011343797047933,
+    "Time_Process_Batch": 0.023152971267700197,
+    "Time_Train_Batch": 0.398253071308136
+}
+
+Epoch 174 Memory Usage: 3105 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 175
+{
+    "Log_Likelihood": 19.150786472320558,
+    "Loss": -19.150786472320558,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89374.07304499923,
+    "Time_Data_Loading": 0.021854718526204426,
+    "Time_Epoch": 0.4561946511268616,
+    "Time_Log_Info": 0.010185658931732178,
+    "Time_Process_Batch": 0.022929489612579346,
+    "Time_Train_Batch": 0.39772565762201945
+}
+
+Epoch 175 Memory Usage: 3105 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.37it/s]
+Train Epoch 176
+{
+    "Log_Likelihood": 19.214660690307618,
+    "Loss": -19.214660690307618,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93560.59186390128,
+    "Time_Data_Loading": 0.02169479529062907,
+    "Time_Epoch": 0.456486972173055,
+    "Time_Log_Info": 0.01017541488011678,
+    "Time_Process_Batch": 0.022877538204193117,
+    "Time_Train_Batch": 0.39839586019515993
+}
+
+Epoch 176 Memory Usage: 3107 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 177
+{
+    "Log_Likelihood": 19.22491492843628,
+    "Loss": -19.22491492843628,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86432.62815861753,
+    "Time_Data_Loading": 0.021415921052296956,
+    "Time_Epoch": 0.4556462526321411,
+    "Time_Log_Info": 0.010135308901468913,
+    "Time_Process_Batch": 0.022648072242736815,
+    "Time_Train_Batch": 0.3979566971460978
+}
+
+Epoch 177 Memory Usage: 3106 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.69it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
+Train Epoch 178
+{
+    "Log_Likelihood": 19.210767364501955,
+    "Loss": -19.210767364501955,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86399.97075991715,
+    "Time_Data_Loading": 0.02196272611618042,
+    "Time_Epoch": 0.4564877152442932,
+    "Time_Log_Info": 0.010158864657084148,
+    "Time_Process_Batch": 0.022820607821146647,
+    "Time_Train_Batch": 0.3981389760971069
+}
+
+Epoch 178 Memory Usage: 3107 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 179
+{
+    "Log_Likelihood": 19.209152030944825,
+    "Loss": -19.209152030944825,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89012.83948436538,
+    "Time_Data_Loading": 0.021211667855580648,
+    "Time_Epoch": 0.4556628266970317,
+    "Time_Log_Info": 0.010160549481709798,
+    "Time_Process_Batch": 0.022942117849985757,
+    "Time_Train_Batch": 0.39804749488830565
+}
+
+Epoch 179 Memory Usage: 3107 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 180
+{
+    "Log_Likelihood": 19.225777561187744,
+    "Loss": -19.225777561187744,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86023.70122856626,
+    "Time_Data_Loading": 0.02122944196065267,
+    "Time_Epoch": 0.45551429986953734,
+    "Time_Log_Info": 0.010167348384857177,
+    "Time_Process_Batch": 0.022588459650675456,
+    "Time_Train_Batch": 0.39817524353663125
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_180.pth
+
+Epoch 180 Memory Usage: 3107 MB
+
+
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+Train Epoch 181
+{
+    "Log_Likelihood": 19.201454479217528,
+    "Loss": -19.201454479217528,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87953.5979181388,
+    "Time_Data_Loading": 0.021415019035339357,
+    "Time_Epoch": 0.45473240613937377,
+    "Time_Log_Info": 0.010243082046508789,
+    "Time_Process_Batch": 0.021995059649149575,
+    "Time_Train_Batch": 0.39779353539148965
+}
+
+Epoch 181 Memory Usage: 3108 MB
+
+
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 50%|#####     | 251/500 [00:13<00:13, 18.55it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.42it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.51it/s]
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 91%|######### | 453/500 [00:24<00:02, 18.44it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.52it/s]
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 97%|#########6| 483/500 [00:26<00:00, 18.22it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.46it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.52it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.38it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.36it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.39it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.48it/s]
100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 182
+{
+    "Log_Likelihood": 19.250245574951173,
+    "Loss": -19.250245574951173,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85362.84414656594,
+    "Time_Data_Loading": 0.022116076946258546,
+    "Time_Epoch": 0.45690829753875734,
+    "Time_Log_Info": 0.010141229629516602,
+    "Time_Process_Batch": 0.023394068082173664,
+    "Time_Train_Batch": 0.39781131347020465
+}
+
+Epoch 182 Memory Usage: 3108 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.34it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
+Train Epoch 183
+{
+    "Log_Likelihood": 19.208322765350342,
+    "Loss": -19.208322765350342,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90986.26630702225,
+    "Time_Data_Loading": 0.021453638871510822,
+    "Time_Epoch": 0.45680506229400636,
+    "Time_Log_Info": 0.010097575187683106,
+    "Time_Process_Batch": 0.023196168740590415,
+    "Time_Train_Batch": 0.39861036141713463
+}
+
+Epoch 183 Memory Usage: 3109 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 184
+{
+    "Log_Likelihood": 19.222475196838378,
+    "Loss": -19.222475196838378,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87003.58635182356,
+    "Time_Data_Loading": 0.02144047021865845,
+    "Time_Epoch": 0.4565069317817688,
+    "Time_Log_Info": 0.010167324542999267,
+    "Time_Process_Batch": 0.022439547379811606,
+    "Time_Train_Batch": 0.3987701018651327
+}
+
+Epoch 184 Memory Usage: 3109 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 185
+{
+    "Log_Likelihood": 19.230661659240724,
+    "Loss": -19.230661659240724,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92588.57077632534,
+    "Time_Data_Loading": 0.02157169977823893,
+    "Time_Epoch": 0.45605037609736127,
+    "Time_Log_Info": 0.010186115900675455,
+    "Time_Process_Batch": 0.022656043370564777,
+    "Time_Train_Batch": 0.3983203530311584
+}
+
+Epoch 185 Memory Usage: 3109 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 186
+{
+    "Log_Likelihood": 19.220169128417968,
+    "Loss": -19.220169128417968,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92503.05974092522,
+    "Time_Data_Loading": 0.021962865193684896,
+    "Time_Epoch": 0.45822894970575967,
+    "Time_Log_Info": 0.010042023658752442,
+    "Time_Process_Batch": 0.023797269662221274,
+    "Time_Train_Batch": 0.39906333684921264
+}
+
+Epoch 186 Memory Usage: 3109 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.27it/s]
100%|##########| 500/500 [00:27<00:00, 18.16it/s]
+Train Epoch 187
+{
+    "Log_Likelihood": 19.230428249359132,
+    "Loss": -19.230428249359132,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86796.96736063315,
+    "Time_Data_Loading": 0.022829580307006835,
+    "Time_Epoch": 0.4615957021713257,
+    "Time_Log_Info": 0.009924312432607016,
+    "Time_Process_Batch": 0.02524810234705607,
+    "Time_Train_Batch": 0.4002283294995626
+}
+
+Epoch 187 Memory Usage: 3110 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.13it/s]
+Train Epoch 188
+{
+    "Log_Likelihood": 19.273395107269288,
+    "Loss": -19.273395107269288,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84979.8247776455,
+    "Time_Data_Loading": 0.023440106709798177,
+    "Time_Epoch": 0.46259241898854575,
+    "Time_Log_Info": 0.009968833128611247,
+    "Time_Process_Batch": 0.025525466601053873,
+    "Time_Train_Batch": 0.40016822814941405
+}
+
+Epoch 188 Memory Usage: 3111 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.30it/s]
100%|##########| 500/500 [00:27<00:00, 18.13it/s]
+Train Epoch 189
+{
+    "Log_Likelihood": 19.25214291381836,
+    "Loss": -19.25214291381836,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91339.1168566433,
+    "Time_Data_Loading": 0.02305491765340169,
+    "Time_Epoch": 0.4624288638432821,
+    "Time_Log_Info": 0.009913249810536703,
+    "Time_Process_Batch": 0.025624545415242513,
+    "Time_Train_Batch": 0.4003742973009745
+}
+
+Epoch 189 Memory Usage: 3110 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 17.98it/s]
+Train Epoch 190
+{
+    "Log_Likelihood": 19.234115768432616,
+    "Loss": -19.234115768432616,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88936.69725789283,
+    "Time_Data_Loading": 0.024492287635803224,
+    "Time_Epoch": 0.46645371119181317,
+    "Time_Log_Info": 0.009808015823364259,
+    "Time_Process_Batch": 0.027052863438924154,
+    "Time_Train_Batch": 0.401437517007192
+}
+
+Epoch 190 Memory Usage: 3111 MB
+
+
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  3%|2         | 13/500 [00:00<00:27, 17.60it/s]
  3%|3         | 15/500 [00:00<00:27, 17.72it/s]
  3%|3         | 17/500 [00:01<00:26, 18.05it/s]
  4%|3         | 19/500 [00:01<00:26, 18.28it/s]
  4%|4         | 21/500 [00:01<00:26, 18.11it/s]
  5%|4         | 23/500 [00:01<00:26, 18.31it/s]
  5%|5         | 25/500 [00:01<00:26, 18.25it/s]
  5%|5         | 27/500 [00:01<00:25, 18.39it/s]
  6%|5         | 29/500 [00:01<00:25, 18.51it/s]
  6%|6         | 31/500 [00:01<00:25, 18.53it/s]
  7%|6         | 33/500 [00:01<00:25, 18.53it/s]
  7%|7         | 35/500 [00:02<00:25, 18.58it/s]
  7%|7         | 37/500 [00:02<00:24, 18.62it/s]
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 10%|9         | 49/500 [00:02<00:24, 18.64it/s]
 10%|#         | 51/500 [00:02<00:24, 18.53it/s]
 11%|#         | 53/500 [00:02<00:24, 18.37it/s]
 11%|#1        | 55/500 [00:03<00:24, 18.49it/s]
 11%|#1        | 57/500 [00:03<00:23, 18.53it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.57it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.64it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.62it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.62it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.29it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.44it/s]
 14%|#4        | 71/500 [00:03<00:23, 18.48it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.55it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.50it/s]
 15%|#5        | 77/500 [00:04<00:23, 18.28it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.44it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.53it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.38it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.39it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.49it/s]
 18%|#7        | 89/500 [00:04<00:22, 18.62it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.43it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.52it/s]
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 20%|#9        | 99/500 [00:05<00:21, 18.60it/s]
 20%|##        | 101/500 [00:05<00:21, 18.59it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.62it/s]
 21%|##1       | 107/500 [00:05<00:20, 18.72it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.24it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.37it/s]
 23%|##2       | 113/500 [00:06<00:21, 18.33it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.49it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.60it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.68it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.51it/s]
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 25%|##5       | 125/500 [00:06<00:20, 18.52it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.59it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.69it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.77it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.74it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.76it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.74it/s]
 29%|##9       | 145/500 [00:07<00:18, 18.69it/s]
 29%|##9       | 147/500 [00:08<00:18, 18.77it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.67it/s]
 30%|###       | 151/500 [00:08<00:18, 18.71it/s]
 31%|###       | 153/500 [00:08<00:18, 18.72it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.76it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.66it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.63it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.54it/s]
 33%|###2      | 163/500 [00:08<00:18, 18.59it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.51it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.50it/s]
 34%|###3      | 169/500 [00:09<00:18, 18.31it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.42it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.44it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.43it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.38it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.29it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.21it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.30it/s]
 37%|###7      | 185/500 [00:10<00:17, 18.32it/s]
 37%|###7      | 187/500 [00:10<00:17, 18.31it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.34it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.41it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.47it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.52it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.37it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.42it/s]
 40%|####      | 201/500 [00:10<00:16, 18.40it/s]
 41%|####      | 203/500 [00:11<00:16, 18.47it/s]
 41%|####1     | 205/500 [00:11<00:15, 18.53it/s]
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 42%|####1     | 209/500 [00:11<00:15, 18.43it/s]
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 43%|####3     | 215/500 [00:11<00:15, 18.40it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.33it/s]
 44%|####3     | 219/500 [00:11<00:15, 18.36it/s]
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 45%|####4     | 223/500 [00:12<00:14, 18.48it/s]
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 47%|####6     | 235/500 [00:12<00:14, 18.53it/s]
 47%|####7     | 237/500 [00:12<00:14, 18.45it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.41it/s]
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 49%|####8     | 243/500 [00:13<00:13, 18.50it/s]
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 49%|####9     | 247/500 [00:13<00:13, 18.43it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.33it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.26it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.13it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.14it/s]
 51%|#####1    | 257/500 [00:14<00:13, 17.99it/s]
 52%|#####1    | 259/500 [00:14<00:13, 17.71it/s]
 52%|#####2    | 261/500 [00:14<00:13, 17.98it/s]
 53%|#####2    | 263/500 [00:14<00:13, 18.13it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.26it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.26it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.29it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.31it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.35it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.35it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.50it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.46it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.55it/s]
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 59%|#####8    | 295/500 [00:16<00:11, 18.21it/s]
 59%|#####9    | 297/500 [00:16<00:11, 18.30it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.25it/s]
 61%|######    | 303/500 [00:16<00:10, 18.29it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.26it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.41it/s]
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 62%|######2   | 311/500 [00:16<00:10, 18.55it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.38it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.37it/s]
 63%|######3   | 317/500 [00:17<00:10, 18.27it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.45it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.31it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.38it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.36it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.46it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.40it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.38it/s]
 81%|########  | 403/500 [00:21<00:05, 18.51it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.45it/s]
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 82%|########1 | 409/500 [00:22<00:04, 18.60it/s]
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 83%|########3 | 417/500 [00:22<00:04, 18.61it/s]
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 86%|########6 | 431/500 [00:23<00:03, 18.48it/s]
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 87%|########7 | 435/500 [00:23<00:03, 18.37it/s]
 87%|########7 | 437/500 [00:23<00:03, 18.49it/s]
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 88%|########8 | 441/500 [00:24<00:03, 18.47it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.30it/s]
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 89%|########9 | 447/500 [00:24<00:02, 18.21it/s]
 90%|########9 | 449/500 [00:24<00:02, 18.02it/s]
 90%|######### | 451/500 [00:24<00:02, 18.22it/s]
 91%|######### | 453/500 [00:24<00:02, 18.24it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.13it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.19it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.29it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.32it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.32it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.32it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.23it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.31it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.38it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.43it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.40it/s]
 95%|#########5| 477/500 [00:25<00:01, 18.45it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.51it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.47it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.49it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.46it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.45it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.45it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.44it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.54it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.53it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.60it/s]
100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 191
+{
+    "Log_Likelihood": 19.284583095550538,
+    "Loss": -19.284583095550538,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90673.21028623923,
+    "Time_Data_Loading": 0.02156851291656494,
+    "Time_Epoch": 0.4567882061004639,
+    "Time_Log_Info": 0.010128517945607504,
+    "Time_Process_Batch": 0.02332438627878825,
+    "Time_Train_Batch": 0.3984314203262329
+}
+
+Epoch 191 Memory Usage: 3110 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:30,  5.50it/s]
  1%|          | 3/500 [00:00<00:42, 11.59it/s]
  1%|1         | 5/500 [00:00<00:34, 14.41it/s]
  1%|1         | 7/500 [00:00<00:30, 15.98it/s]
  2%|1         | 9/500 [00:00<00:29, 16.80it/s]
  2%|2         | 11/500 [00:00<00:27, 17.50it/s]
  3%|2         | 13/500 [00:00<00:27, 17.83it/s]
  3%|3         | 15/500 [00:00<00:26, 17.98it/s]
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  6%|5         | 29/500 [00:01<00:25, 18.43it/s]
  6%|6         | 31/500 [00:01<00:25, 18.41it/s]
  7%|6         | 33/500 [00:01<00:25, 18.50it/s]
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 13%|#3        | 65/500 [00:03<00:23, 18.29it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.36it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.43it/s]
 14%|#4        | 71/500 [00:03<00:23, 18.44it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.33it/s]
 15%|#5        | 75/500 [00:04<00:23, 18.45it/s]
 15%|#5        | 77/500 [00:04<00:23, 18.30it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.27it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.18it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.10it/s]
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 91%|######### | 453/500 [00:25<00:02, 18.21it/s]
 91%|#########1| 455/500 [00:25<00:02, 18.25it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.04it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.21it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.30it/s]
 98%|#########8| 491/500 [00:27<00:00, 18.32it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.38it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.32it/s]
100%|##########| 500/500 [00:27<00:00, 18.13it/s]
+Train Epoch 192
+{
+    "Log_Likelihood": 19.320977081298828,
+    "Loss": -19.320977081298828,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86009.70500395606,
+    "Time_Data_Loading": 0.023067724704742432,
+    "Time_Epoch": 0.4624355514844259,
+    "Time_Log_Info": 0.010007643699645996,
+    "Time_Process_Batch": 0.025428203741709392,
+    "Time_Train_Batch": 0.40055739879608154
+}
+
+Epoch 192 Memory Usage: 3112 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|##########| 500/500 [00:27<00:00, 18.23it/s]
+Train Epoch 193
+{
+    "Log_Likelihood": 19.289255207061768,
+    "Loss": -19.289255207061768,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89669.05048306283,
+    "Time_Data_Loading": 0.022661519050598145,
+    "Time_Epoch": 0.45989442666371666,
+    "Time_Log_Info": 0.010063711802164714,
+    "Time_Process_Batch": 0.024347980817159016,
+    "Time_Train_Batch": 0.39936254024505613
+}
+
+Epoch 193 Memory Usage: 3112 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.29it/s]
+Train Epoch 194
+{
+    "Log_Likelihood": 19.30361943817139,
+    "Loss": -19.30361943817139,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87928.50413320339,
+    "Time_Data_Loading": 0.022211893399556478,
+    "Time_Epoch": 0.45865384737650555,
+    "Time_Log_Info": 0.010075851281483968,
+    "Time_Process_Batch": 0.02377118666966756,
+    "Time_Train_Batch": 0.3990062554677328
+}
+
+Epoch 194 Memory Usage: 3112 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 195
+{
+    "Log_Likelihood": 19.244470142364502,
+    "Loss": -19.244470142364502,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95604.06340145408,
+    "Time_Data_Loading": 0.02123910983403524,
+    "Time_Epoch": 0.45498950878779093,
+    "Time_Log_Info": 0.010214980443318684,
+    "Time_Process_Batch": 0.02201024293899536,
+    "Time_Train_Batch": 0.3980379263559977
+}
+
+Epoch 195 Memory Usage: 3113 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 196
+{
+    "Log_Likelihood": 19.278146671295165,
+    "Loss": -19.278146671295165,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90619.88971370996,
+    "Time_Data_Loading": 0.021013681093851724,
+    "Time_Epoch": 0.45427361329396565,
+    "Time_Log_Info": 0.010250123341878255,
+    "Time_Process_Batch": 0.02233699957529704,
+    "Time_Train_Batch": 0.3973828315734863
+}
+
+Epoch 196 Memory Usage: 3113 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 197
+{
+    "Log_Likelihood": 19.27728877258301,
+    "Loss": -19.27728877258301,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86235.46145308921,
+    "Time_Data_Loading": 0.02078243891398112,
+    "Time_Epoch": 0.45443222920099896,
+    "Time_Log_Info": 0.010227851072947184,
+    "Time_Process_Batch": 0.02220338980356852,
+    "Time_Train_Batch": 0.39786876837412516
+}
+
+Epoch 197 Memory Usage: 3112 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 198
+{
+    "Log_Likelihood": 19.338672172546385,
+    "Loss": -19.338672172546385,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84686.70177814642,
+    "Time_Data_Loading": 0.020203177134195963,
+    "Time_Epoch": 0.4535294850667318,
+    "Time_Log_Info": 0.010220309098561605,
+    "Time_Process_Batch": 0.02182796796162923,
+    "Time_Train_Batch": 0.39796317418416344
+}
+
+Epoch 198 Memory Usage: 3114 MB
+
+
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+Train Epoch 199
+{
+    "Log_Likelihood": 19.306609828948975,
+    "Loss": -19.306609828948975,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85271.31219691405,
+    "Time_Data_Loading": 0.020503445466359457,
+    "Time_Epoch": 0.4542538046836853,
+    "Time_Log_Info": 0.010205686092376709,
+    "Time_Process_Batch": 0.021980921427408855,
+    "Time_Train_Batch": 0.39821346203486124
+}
+
+Epoch 199 Memory Usage: 3115 MB
+
+
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+Train Epoch 200
+{
+    "Log_Likelihood": 19.306616218566894,
+    "Loss": -19.306616218566894,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90421.14961349679,
+    "Time_Data_Loading": 0.020462926228841147,
+    "Time_Epoch": 0.4530884067217509,
+    "Time_Log_Info": 0.010226996739705403,
+    "Time_Process_Batch": 0.021635810534159344,
+    "Time_Train_Batch": 0.3974835475285848
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_200.pth
+
+Epoch 200 Memory Usage: 3114 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.37it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.69it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 201
+{
+    "Log_Likelihood": 19.330865547180174,
+    "Loss": -19.330865547180174,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90547.95427515463,
+    "Time_Data_Loading": 0.020785156885782877,
+    "Time_Epoch": 0.4545568625132243,
+    "Time_Log_Info": 0.010241432984670003,
+    "Time_Process_Batch": 0.022032368183135986,
+    "Time_Train_Batch": 0.3982259750366211
+}
+
+Epoch 201 Memory Usage: 3114 MB
+
+
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 51%|#####1    | 255/500 [00:13<00:13, 18.52it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.44it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.47it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.51it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.49it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 202
+{
+    "Log_Likelihood": 19.35664412689209,
+    "Loss": -19.35664412689209,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87103.9234152966,
+    "Time_Data_Loading": 0.021005082130432128,
+    "Time_Epoch": 0.454886790116628,
+    "Time_Log_Info": 0.010170050462086995,
+    "Time_Process_Batch": 0.022356458504994712,
+    "Time_Train_Batch": 0.39804100592931113
+}
+
+Epoch 202 Memory Usage: 3115 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 17.84it/s]
100%|##########| 500/500 [00:27<00:00, 18.20it/s]
+Train Epoch 203
+{
+    "Log_Likelihood": 19.311511528015135,
+    "Loss": -19.311511528015135,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91260.05563912627,
+    "Time_Data_Loading": 0.0222017765045166,
+    "Time_Epoch": 0.46095698277155556,
+    "Time_Log_Info": 0.009991335868835449,
+    "Time_Process_Batch": 0.024364173412322998,
+    "Time_Train_Batch": 0.40080034335454306
+}
+
+Epoch 203 Memory Usage: 3115 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.21it/s]
100%|##########| 500/500 [00:27<00:00, 18.27it/s]
+Train Epoch 204
+{
+    "Log_Likelihood": 19.338539974212647,
+    "Loss": -19.338539974212647,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89004.43400668887,
+    "Time_Data_Loading": 0.02286088466644287,
+    "Time_Epoch": 0.45892358223597207,
+    "Time_Log_Info": 0.010082876682281494,
+    "Time_Process_Batch": 0.02433574994405111,
+    "Time_Train_Batch": 0.39826207558314003
+}
+
+Epoch 204 Memory Usage: 3116 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.16it/s]
100%|##########| 500/500 [00:27<00:00, 18.27it/s]
+Train Epoch 205
+{
+    "Log_Likelihood": 19.329923484802247,
+    "Loss": -19.329923484802247,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93338.43815782657,
+    "Time_Data_Loading": 0.023003506660461425,
+    "Time_Epoch": 0.45895703236262003,
+    "Time_Log_Info": 0.010153456528981527,
+    "Time_Process_Batch": 0.024251564343770345,
+    "Time_Train_Batch": 0.3981886347134908
+}
+
+Epoch 205 Memory Usage: 3116 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.42it/s]
100%|##########| 500/500 [00:27<00:00, 18.29it/s]
+Train Epoch 206
+{
+    "Log_Likelihood": 19.348529052734374,
+    "Loss": -19.348529052734374,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83937.8656964461,
+    "Time_Data_Loading": 0.02256596883138021,
+    "Time_Epoch": 0.45835039218266804,
+    "Time_Log_Info": 0.010151004791259766,
+    "Time_Process_Batch": 0.02361832062403361,
+    "Time_Train_Batch": 0.39861305952072146
+}
+
+Epoch 206 Memory Usage: 3116 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.29it/s]
+Train Epoch 207
+{
+    "Log_Likelihood": 19.371410186767577,
+    "Loss": -19.371410186767577,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92129.671965937,
+    "Time_Data_Loading": 0.022583226362864178,
+    "Time_Epoch": 0.4585539698600769,
+    "Time_Log_Info": 0.010161590576171876,
+    "Time_Process_Batch": 0.023853333791097005,
+    "Time_Train_Batch": 0.39853200912475584
+}
+
+Epoch 207 Memory Usage: 3116 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.68it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 208
+{
+    "Log_Likelihood": 19.323042259216308,
+    "Loss": -19.323042259216308,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89720.04226392126,
+    "Time_Data_Loading": 0.02234239180882772,
+    "Time_Epoch": 0.4562133272488912,
+    "Time_Log_Info": 0.010231999556223552,
+    "Time_Process_Batch": 0.022963392734527587,
+    "Time_Train_Batch": 0.39734137455622354
+}
+
+Epoch 208 Memory Usage: 3116 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
+Train Epoch 209
+{
+    "Log_Likelihood": 19.272546073913574,
+    "Loss": -19.272546073913574,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92020.61556796386,
+    "Time_Data_Loading": 0.022495341300964356,
+    "Time_Epoch": 0.4576485395431519,
+    "Time_Log_Info": 0.010165079434712728,
+    "Time_Process_Batch": 0.023469626903533936,
+    "Time_Train_Batch": 0.39820698499679563
+}
+
+Epoch 209 Memory Usage: 3117 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.12it/s]
100%|##########| 500/500 [00:27<00:00, 18.22it/s]
+Train Epoch 210
+{
+    "Log_Likelihood": 19.344495044708253,
+    "Loss": -19.344495044708253,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94919.88016846005,
+    "Time_Data_Loading": 0.023112797737121583,
+    "Time_Epoch": 0.4601082404454549,
+    "Time_Log_Info": 0.010045790672302246,
+    "Time_Process_Batch": 0.024562180042266846,
+    "Time_Train_Batch": 0.39899285236994425
+}
+
+Epoch 210 Memory Usage: 3117 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.16it/s]
+Train Epoch 211
+{
+    "Log_Likelihood": 19.357246303558348,
+    "Loss": -19.357246303558348,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92665.6239728643,
+    "Time_Data_Loading": 0.02286074161529541,
+    "Time_Epoch": 0.46176823377609255,
+    "Time_Log_Info": 0.009942289193471272,
+    "Time_Process_Batch": 0.025097485383351645,
+    "Time_Train_Batch": 0.4003918488820394
+}
+
+Epoch 211 Memory Usage: 3117 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.22it/s]
100%|##########| 500/500 [00:27<00:00, 18.26it/s]
+Train Epoch 212
+{
+    "Log_Likelihood": 19.392008251190184,
+    "Loss": -19.392008251190184,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84800.5124630456,
+    "Time_Data_Loading": 0.02302798827489217,
+    "Time_Epoch": 0.4592781941095988,
+    "Time_Log_Info": 0.010106885433197021,
+    "Time_Process_Batch": 0.02384939193725586,
+    "Time_Train_Batch": 0.3987753311793009
+}
+
+Epoch 212 Memory Usage: 3118 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.11it/s]
+Train Epoch 213
+{
+    "Log_Likelihood": 19.372145503997803,
+    "Loss": -19.372145503997803,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91199.93439352936,
+    "Time_Data_Loading": 0.023458651701609292,
+    "Time_Epoch": 0.46311293840408324,
+    "Time_Log_Info": 0.00991510550181071,
+    "Time_Process_Batch": 0.02539196014404297,
+    "Time_Train_Batch": 0.40084335406621296
+}
+
+Epoch 213 Memory Usage: 3119 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 214
+{
+    "Log_Likelihood": 19.398384265899658,
+    "Loss": -19.398384265899658,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88615.13324477065,
+    "Time_Data_Loading": 0.02222942511240641,
+    "Time_Epoch": 0.4582866430282593,
+    "Time_Log_Info": 0.010114169120788575,
+    "Time_Process_Batch": 0.02382624944051107,
+    "Time_Train_Batch": 0.398676594098409
+}
+
+Epoch 214 Memory Usage: 3118 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 215
+{
+    "Log_Likelihood": 19.3752802734375,
+    "Loss": -19.3752802734375,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86543.67891636766,
+    "Time_Data_Loading": 0.022498353322347005,
+    "Time_Epoch": 0.45739562511444093,
+    "Time_Log_Info": 0.010215588410695394,
+    "Time_Process_Batch": 0.023324481646219888,
+    "Time_Train_Batch": 0.39772012233734133
+}
+
+Epoch 215 Memory Usage: 3119 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 216
+{
+    "Log_Likelihood": 19.34782447052002,
+    "Loss": -19.34782447052002,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91976.13600321059,
+    "Time_Data_Loading": 0.021641568342844645,
+    "Time_Epoch": 0.45525654951731365,
+    "Time_Log_Info": 0.010248748461405437,
+    "Time_Process_Batch": 0.02269370953241984,
+    "Time_Train_Batch": 0.3972888827323914
+}
+
+Epoch 216 Memory Usage: 3120 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 217
+{
+    "Log_Likelihood": 19.408441223144532,
+    "Loss": -19.408441223144532,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 84720.7495793736,
+    "Time_Data_Loading": 0.02164996067682902,
+    "Time_Epoch": 0.45594690640767416,
+    "Time_Log_Info": 0.010206079483032227,
+    "Time_Process_Batch": 0.022888179620107016,
+    "Time_Train_Batch": 0.3976735273996989
+}
+
+Epoch 217 Memory Usage: 3120 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 218
+{
+    "Log_Likelihood": 19.34974291610718,
+    "Loss": -19.34974291610718,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100866.022194041,
+    "Time_Data_Loading": 0.02211886246999105,
+    "Time_Epoch": 0.45728681882222494,
+    "Time_Log_Info": 0.010210251808166504,
+    "Time_Process_Batch": 0.023471009731292725,
+    "Time_Train_Batch": 0.39804346958796183
+}
+
+Epoch 218 Memory Usage: 3120 MB
+
+
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 98%|#########8| 491/500 [00:26<00:00, 18.31it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.18it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 219
+{
+    "Log_Likelihood": 19.390770740509033,
+    "Loss": -19.390770740509033,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92622.91868309812,
+    "Time_Data_Loading": 0.022729706764221192,
+    "Time_Epoch": 0.4580901821454366,
+    "Time_Log_Info": 0.010151259104410807,
+    "Time_Process_Batch": 0.023605998357137045,
+    "Time_Train_Batch": 0.39824256499608357
+}
+
+Epoch 219 Memory Usage: 3120 MB
+
+
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+Train Epoch 220
+{
+    "Log_Likelihood": 19.371860836029054,
+    "Loss": -19.371860836029054,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88622.43279209142,
+    "Time_Data_Loading": 0.022628398736317952,
+    "Time_Epoch": 0.4582626303037008,
+    "Time_Log_Info": 0.010167956352233887,
+    "Time_Process_Batch": 0.02381787697474162,
+    "Time_Train_Batch": 0.39823352893193564
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_220.pth
+
+Epoch 220 Memory Usage: 3120 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
+Train Epoch 221
+{
+    "Log_Likelihood": 19.403101387023927,
+    "Loss": -19.403101387023927,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91804.37695859993,
+    "Time_Data_Loading": 0.022219328085581462,
+    "Time_Epoch": 0.4577031175295512,
+    "Time_Log_Info": 0.010119410355885823,
+    "Time_Process_Batch": 0.02354060411453247,
+    "Time_Train_Batch": 0.39836297035217283
+}
+
+Epoch 221 Memory Usage: 3121 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 222
+{
+    "Log_Likelihood": 19.39297388839722,
+    "Loss": -19.39297388839722,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91505.087454759,
+    "Time_Data_Loading": 0.02214416265487671,
+    "Time_Epoch": 0.45751521984736127,
+    "Time_Log_Info": 0.010131307442982991,
+    "Time_Process_Batch": 0.023692711194356283,
+    "Time_Train_Batch": 0.39819042682647704
+}
+
+Epoch 222 Memory Usage: 3121 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.28it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 223
+{
+    "Log_Likelihood": 19.399882358551025,
+    "Loss": -19.399882358551025,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87867.72198650139,
+    "Time_Data_Loading": 0.02124135891596476,
+    "Time_Epoch": 0.4562174081802368,
+    "Time_Log_Info": 0.010171242554982503,
+    "Time_Process_Batch": 0.023256595929463705,
+    "Time_Train_Batch": 0.39817832310994467
+}
+
+Epoch 223 Memory Usage: 3122 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 224
+{
+    "Log_Likelihood": 19.40360737991333,
+    "Loss": -19.40360737991333,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92342.88162028229,
+    "Time_Data_Loading": 0.021519839763641357,
+    "Time_Epoch": 0.45633491675059,
+    "Time_Log_Info": 0.010168115297953287,
+    "Time_Process_Batch": 0.023158657550811767,
+    "Time_Train_Batch": 0.39797365268071494
+}
+
+Epoch 224 Memory Usage: 3122 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 225
+{
+    "Log_Likelihood": 19.41346965408325,
+    "Loss": -19.41346965408325,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86757.3549746261,
+    "Time_Data_Loading": 0.0213449756304423,
+    "Time_Epoch": 0.4558953722318014,
+    "Time_Log_Info": 0.010185575485229493,
+    "Time_Process_Batch": 0.02290786902109782,
+    "Time_Train_Batch": 0.3981479287147522
+}
+
+Epoch 225 Memory Usage: 3122 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.35it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
+Train Epoch 226
+{
+    "Log_Likelihood": 19.41543962097168,
+    "Loss": -19.41543962097168,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93282.58978710619,
+    "Time_Data_Loading": 0.02233236233393351,
+    "Time_Epoch": 0.4577531377474467,
+    "Time_Log_Info": 0.010152411460876466,
+    "Time_Process_Batch": 0.023719219366709392,
+    "Time_Train_Batch": 0.39807839393615724
+}
+
+Epoch 226 Memory Usage: 3123 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.20it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 227
+{
+    "Log_Likelihood": 19.426054557800292,
+    "Loss": -19.426054557800292,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 96254.01028937458,
+    "Time_Data_Loading": 0.02251569430033366,
+    "Time_Epoch": 0.4573898990948995,
+    "Time_Log_Info": 0.010161972045898438,
+    "Time_Process_Batch": 0.023702534039815266,
+    "Time_Train_Batch": 0.39766059319178265
+}
+
+Epoch 227 Memory Usage: 3123 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.27it/s]
+Train Epoch 228
+{
+    "Log_Likelihood": 19.418417682647704,
+    "Loss": -19.418417682647704,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92122.37460524416,
+    "Time_Data_Loading": 0.022741281986236574,
+    "Time_Epoch": 0.45909400780995685,
+    "Time_Log_Info": 0.010143824418385823,
+    "Time_Process_Batch": 0.02401045560836792,
+    "Time_Train_Batch": 0.3985615293184916
+}
+
+Epoch 228 Memory Usage: 3123 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
+Train Epoch 229
+{
+    "Log_Likelihood": 19.439794437408448,
+    "Loss": -19.439794437408448,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91392.00473679778,
+    "Time_Data_Loading": 0.02243653933207194,
+    "Time_Epoch": 0.4578484574953715,
+    "Time_Log_Info": 0.010130854447682698,
+    "Time_Process_Batch": 0.023803659280141196,
+    "Time_Train_Batch": 0.3980095068613688
+}
+
+Epoch 229 Memory Usage: 3123 MB
+
+
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 50%|#####     | 251/500 [00:13<00:13, 18.64it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.61it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.67it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.12it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.24it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 230
+{
+    "Log_Likelihood": 19.44715498352051,
+    "Loss": -19.44715498352051,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89899.52462729017,
+    "Time_Data_Loading": 0.02220413287480672,
+    "Time_Epoch": 0.4568883021672567,
+    "Time_Log_Info": 0.010199264685312907,
+    "Time_Process_Batch": 0.023367027441660564,
+    "Time_Train_Batch": 0.39773523807525635
+}
+
+Epoch 230 Memory Usage: 3124 MB
+
+
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 91%|#########1| 455/500 [00:24<00:02, 18.56it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.69it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 231
+{
+    "Log_Likelihood": 19.46932363128662,
+    "Loss": -19.46932363128662,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 97374.54974601713,
+    "Time_Data_Loading": 0.02194610039393107,
+    "Time_Epoch": 0.45632416804631554,
+    "Time_Log_Info": 0.010183962186177571,
+    "Time_Process_Batch": 0.022883760929107665,
+    "Time_Train_Batch": 0.3979443113009135
+}
+
+Epoch 231 Memory Usage: 3124 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|##########| 500/500 [00:27<00:00, 18.27it/s]
+Train Epoch 232
+{
+    "Log_Likelihood": 19.416322456359865,
+    "Loss": -19.416322456359865,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94967.69595373003,
+    "Time_Data_Loading": 0.022391021251678467,
+    "Time_Epoch": 0.4589949210484823,
+    "Time_Log_Info": 0.010135018825531006,
+    "Time_Process_Batch": 0.02433712879816691,
+    "Time_Train_Batch": 0.3986711819966634
+}
+
+Epoch 232 Memory Usage: 3126 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.09it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
+Train Epoch 233
+{
+    "Log_Likelihood": 19.376622705459596,
+    "Loss": -19.376622705459596,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93862.64975596046,
+    "Time_Data_Loading": 0.022274223963419597,
+    "Time_Epoch": 0.4586564501126607,
+    "Time_Log_Info": 0.010083842277526855,
+    "Time_Process_Batch": 0.024078222115834554,
+    "Time_Train_Batch": 0.39878593683242797
+}
+
+Epoch 233 Memory Usage: 3126 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.25it/s]
+Train Epoch 234
+{
+    "Log_Likelihood": 19.455922748565673,
+    "Loss": -19.455922748565673,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85566.01687069565,
+    "Time_Data_Loading": 0.02229760487874349,
+    "Time_Epoch": 0.4594627062479655,
+    "Time_Log_Info": 0.010065857569376628,
+    "Time_Process_Batch": 0.02418949604034424,
+    "Time_Train_Batch": 0.39951199690500894
+}
+
+Epoch 234 Memory Usage: 3126 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 235
+{
+    "Log_Likelihood": 19.4630092086792,
+    "Loss": -19.4630092086792,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 83626.84607449034,
+    "Time_Data_Loading": 0.022006956736246745,
+    "Time_Epoch": 0.45707674821217853,
+    "Time_Log_Info": 0.010147849718729654,
+    "Time_Process_Batch": 0.02333836555480957,
+    "Time_Train_Batch": 0.398229185740153
+}
+
+Epoch 235 Memory Usage: 3126 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
+Train Epoch 236
+{
+    "Log_Likelihood": 19.44664393234253,
+    "Loss": -19.44664393234253,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95094.43203250035,
+    "Time_Data_Loading": 0.02223047415415446,
+    "Time_Epoch": 0.45655075311660764,
+    "Time_Log_Info": 0.010100432236989339,
+    "Time_Process_Batch": 0.023221361637115478,
+    "Time_Train_Batch": 0.39766646226247154
+}
+
+Epoch 236 Memory Usage: 3126 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.27it/s]
+Train Epoch 237
+{
+    "Log_Likelihood": 19.44432364654541,
+    "Loss": -19.44432364654541,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89348.1917348096,
+    "Time_Data_Loading": 0.02280298074086507,
+    "Time_Epoch": 0.4592544237772624,
+    "Time_Log_Info": 0.01004947026570638,
+    "Time_Process_Batch": 0.023972407976786295,
+    "Time_Train_Batch": 0.3986034274101257
+}
+
+Epoch 237 Memory Usage: 3127 MB
+
+
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  4%|3         | 19/500 [00:01<00:26, 18.20it/s]
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  5%|5         | 27/500 [00:01<00:25, 18.49it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.61it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.51it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.56it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.55it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.64it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
+Train Epoch 238
+{
+    "Log_Likelihood": 19.474130786895753,
+    "Loss": -19.474130786895753,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88069.24259872512,
+    "Time_Data_Loading": 0.02226314942042033,
+    "Time_Epoch": 0.4563523451487223,
+    "Time_Log_Info": 0.010150301456451415,
+    "Time_Process_Batch": 0.02339202562967936,
+    "Time_Train_Batch": 0.397235643863678
+}
+
+Epoch 238 Memory Usage: 3126 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 239
+{
+    "Log_Likelihood": 19.475436122894287,
+    "Loss": -19.475436122894287,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90617.33747669483,
+    "Time_Data_Loading": 0.021448818842569987,
+    "Time_Epoch": 0.45521471500396726,
+    "Time_Log_Info": 0.01018211046854655,
+    "Time_Process_Batch": 0.022795498371124268,
+    "Time_Train_Batch": 0.39747370878855387
+}
+
+Epoch 239 Memory Usage: 3126 MB
+
+
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+Train Epoch 240
+{
+    "Log_Likelihood": 19.468512672424318,
+    "Loss": -19.468512672424318,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93834.44117202437,
+    "Time_Data_Loading": 0.02189625104268392,
+    "Time_Epoch": 0.4561088403065999,
+    "Time_Log_Info": 0.010210859775543212,
+    "Time_Process_Batch": 0.02285968462626139,
+    "Time_Train_Batch": 0.3977875471115112
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_240.pth
+
+Epoch 240 Memory Usage: 3127 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 241
+{
+    "Log_Likelihood": 19.460407135009767,
+    "Loss": -19.460407135009767,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88290.74119438489,
+    "Time_Data_Loading": 0.021451632181803387,
+    "Time_Epoch": 0.4558833281199137,
+    "Time_Log_Info": 0.010157255331675212,
+    "Time_Process_Batch": 0.022937401135762533,
+    "Time_Train_Batch": 0.39794860283533734
+}
+
+Epoch 241 Memory Usage: 3128 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.18it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 242
+{
+    "Log_Likelihood": 19.48136907196045,
+    "Loss": -19.48136907196045,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 96846.4383660771,
+    "Time_Data_Loading": 0.021773568789164224,
+    "Time_Epoch": 0.4559293230374654,
+    "Time_Log_Info": 0.010212385654449463,
+    "Time_Process_Batch": 0.02269069751103719,
+    "Time_Train_Batch": 0.3977637767791748
+}
+
+Epoch 242 Memory Usage: 3128 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.30it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 243
+{
+    "Log_Likelihood": 19.497309425354004,
+    "Loss": -19.497309425354004,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91155.8246764324,
+    "Time_Data_Loading": 0.02237886985143026,
+    "Time_Epoch": 0.4583742539087931,
+    "Time_Log_Info": 0.0101065993309021,
+    "Time_Process_Batch": 0.023818842569986978,
+    "Time_Train_Batch": 0.39855270783106483
+}
+
+Epoch 243 Memory Usage: 3128 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
+Train Epoch 244
+{
+    "Log_Likelihood": 19.503179878234864,
+    "Loss": -19.503179878234864,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92037.30095049411,
+    "Time_Data_Loading": 0.02164754072825114,
+    "Time_Epoch": 0.4565073053042094,
+    "Time_Log_Info": 0.010216112931569417,
+    "Time_Process_Batch": 0.023432616392771402,
+    "Time_Train_Batch": 0.3978061636288961
+}
+
+Epoch 244 Memory Usage: 3129 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 245
+{
+    "Log_Likelihood": 19.511648204803468,
+    "Loss": -19.511648204803468,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91444.10422092801,
+    "Time_Data_Loading": 0.021624080340067544,
+    "Time_Epoch": 0.4549772620201111,
+    "Time_Log_Info": 0.01024332841237386,
+    "Time_Process_Batch": 0.02274531126022339,
+    "Time_Train_Batch": 0.3970517079035441
+}
+
+Epoch 245 Memory Usage: 3128 MB
+
+
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+Train Epoch 246
+{
+    "Log_Likelihood": 19.4937497177124,
+    "Loss": -19.4937497177124,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94164.81365979141,
+    "Time_Data_Loading": 0.021054681142171225,
+    "Time_Epoch": 0.4542640447616577,
+    "Time_Log_Info": 0.010254120826721192,
+    "Time_Process_Batch": 0.022169244289398194,
+    "Time_Train_Batch": 0.3974972407023112
+}
+
+Epoch 246 Memory Usage: 3129 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 247
+{
+    "Log_Likelihood": 19.497922367095946,
+    "Loss": -19.497922367095946,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95282.13087852491,
+    "Time_Data_Loading": 0.021524083614349366,
+    "Time_Epoch": 0.4555306673049927,
+    "Time_Log_Info": 0.010226031144460043,
+    "Time_Process_Batch": 0.022691941261291503,
+    "Time_Train_Batch": 0.39773762226104736
+}
+
+Epoch 247 Memory Usage: 3129 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 248
+{
+    "Log_Likelihood": 19.51365519332886,
+    "Loss": -19.51365519332886,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93561.14261886448,
+    "Time_Data_Loading": 0.021661893526713053,
+    "Time_Epoch": 0.455509877204895,
+    "Time_Log_Info": 0.010222776730855306,
+    "Time_Process_Batch": 0.023076160748799642,
+    "Time_Train_Batch": 0.3971680243810018
+}
+
+Epoch 248 Memory Usage: 3130 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 249
+{
+    "Log_Likelihood": 19.519294090270996,
+    "Loss": -19.519294090270996,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86754.65387847513,
+    "Time_Data_Loading": 0.02198487917582194,
+    "Time_Epoch": 0.4561043898264567,
+    "Time_Log_Info": 0.010204064846038818,
+    "Time_Process_Batch": 0.022986161708831786,
+    "Time_Train_Batch": 0.3975733319918315
+}
+
+Epoch 249 Memory Usage: 3130 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
+Train Epoch 250
+{
+    "Log_Likelihood": 19.534483901977538,
+    "Loss": -19.534483901977538,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 85688.34980679041,
+    "Time_Data_Loading": 0.02203723192214966,
+    "Time_Epoch": 0.4568180084228516,
+    "Time_Log_Info": 0.01017011801401774,
+    "Time_Process_Batch": 0.023353962103525798,
+    "Time_Train_Batch": 0.39772759278615316
+}
+
+Epoch 250 Memory Usage: 3130 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.35it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.45it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.33it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 251
+{
+    "Log_Likelihood": 19.449406497955323,
+    "Loss": -19.449406497955323,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 96721.92866816054,
+    "Time_Data_Loading": 0.022485808531443278,
+    "Time_Epoch": 0.4569831450780233,
+    "Time_Log_Info": 0.01018910010655721,
+    "Time_Process_Batch": 0.023090275128682454,
+    "Time_Train_Batch": 0.39785123666127525
+}
+
+Epoch 251 Memory Usage: 3132 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 252
+{
+    "Log_Likelihood": 19.52073205947876,
+    "Loss": -19.52073205947876,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91240.57628821566,
+    "Time_Data_Loading": 0.021816658973693847,
+    "Time_Epoch": 0.45608836809794107,
+    "Time_Log_Info": 0.010168500741322835,
+    "Time_Process_Batch": 0.023052553335825603,
+    "Time_Train_Batch": 0.3976283550262451
+}
+
+Epoch 252 Memory Usage: 3132 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 253
+{
+    "Log_Likelihood": 19.525793663024903,
+    "Loss": -19.525793663024903,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90385.0701877336,
+    "Time_Data_Loading": 0.021388057867685953,
+    "Time_Epoch": 0.4552114446957906,
+    "Time_Log_Info": 0.01020667552947998,
+    "Time_Process_Batch": 0.02264141241709391,
+    "Time_Train_Batch": 0.39760791858037314
+}
+
+Epoch 253 Memory Usage: 3131 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.36it/s]
+Train Epoch 254
+{
+    "Log_Likelihood": 19.536575046539305,
+    "Loss": -19.536575046539305,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 86816.46506893059,
+    "Time_Data_Loading": 0.022027083237965903,
+    "Time_Epoch": 0.4567769209543864,
+    "Time_Log_Info": 0.010143740971883138,
+    "Time_Process_Batch": 0.023007933298746744,
+    "Time_Train_Batch": 0.39818880955378216
+}
+
+Epoch 254 Memory Usage: 3131 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.06it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
+Train Epoch 255
+{
+    "Log_Likelihood": 19.516410343170165,
+    "Loss": -19.516410343170165,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 97629.29875058043,
+    "Time_Data_Loading": 0.022449950377146404,
+    "Time_Epoch": 0.4576191226641337,
+    "Time_Log_Info": 0.010147456328074138,
+    "Time_Process_Batch": 0.02329089641571045,
+    "Time_Train_Batch": 0.39836782614390054
+}
+
+Epoch 255 Memory Usage: 3132 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.18it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
+Train Epoch 256
+{
+    "Log_Likelihood": 19.537783863067627,
+    "Loss": -19.537783863067627,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89485.3414752763,
+    "Time_Data_Loading": 0.02162141799926758,
+    "Time_Epoch": 0.45655857721964516,
+    "Time_Log_Info": 0.010182464122772216,
+    "Time_Process_Batch": 0.023005239168802896,
+    "Time_Train_Batch": 0.3982204596201579
+}
+
+Epoch 256 Memory Usage: 3132 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 257
+{
+    "Log_Likelihood": 19.509766590118407,
+    "Loss": -19.509766590118407,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88928.52266213173,
+    "Time_Data_Loading": 0.022447999318440756,
+    "Time_Epoch": 0.45705255270004275,
+    "Time_Log_Info": 0.010198632876078287,
+    "Time_Process_Batch": 0.023371219635009766,
+    "Time_Train_Batch": 0.3975216587384542
+}
+
+Epoch 257 Memory Usage: 3132 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 258
+{
+    "Log_Likelihood": 19.498875175476073,
+    "Loss": -19.498875175476073,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87250.2089862223,
+    "Time_Data_Loading": 0.0223967711130778,
+    "Time_Epoch": 0.45758124589920046,
+    "Time_Log_Info": 0.010184137026468913,
+    "Time_Process_Batch": 0.023446853955586752,
+    "Time_Train_Batch": 0.3981523275375366
+}
+
+Epoch 258 Memory Usage: 3132 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 259
+{
+    "Log_Likelihood": 19.550841415405273,
+    "Loss": -19.550841415405273,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95123.50893215286,
+    "Time_Data_Loading": 0.022050034999847413,
+    "Time_Epoch": 0.45725743770599364,
+    "Time_Log_Info": 0.010158391793568929,
+    "Time_Process_Batch": 0.023615880807240804,
+    "Time_Train_Batch": 0.3980790098508199
+}
+
+Epoch 259 Memory Usage: 3133 MB
+
+
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+Train Epoch 260
+{
+    "Log_Likelihood": 19.527848072052002,
+    "Loss": -19.527848072052002,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93355.70744192641,
+    "Time_Data_Loading": 0.02200327714284261,
+    "Time_Epoch": 0.4569677909215291,
+    "Time_Log_Info": 0.010163966814676921,
+    "Time_Process_Batch": 0.023363808790842693,
+    "Time_Train_Batch": 0.39804434378941855
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_260.pth
+
+Epoch 260 Memory Usage: 3134 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 261
+{
+    "Log_Likelihood": 19.57897033691406,
+    "Loss": -19.57897033691406,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91266.2307784175,
+    "Time_Data_Loading": 0.022162067890167236,
+    "Time_Epoch": 0.45596870581309,
+    "Time_Log_Info": 0.010199423631032307,
+    "Time_Process_Batch": 0.022679932912190757,
+    "Time_Train_Batch": 0.3975200732549032
+}
+
+Epoch 261 Memory Usage: 3134 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 262
+{
+    "Log_Likelihood": 19.55843190765381,
+    "Loss": -19.55843190765381,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91379.22258730637,
+    "Time_Data_Loading": 0.021046658356984455,
+    "Time_Epoch": 0.45488409996032714,
+    "Time_Log_Info": 0.010246646404266358,
+    "Time_Process_Batch": 0.022384544213612873,
+    "Time_Train_Batch": 0.3977009057998657
+}
+
+Epoch 262 Memory Usage: 3135 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 263
+{
+    "Log_Likelihood": 19.53718998336792,
+    "Loss": -19.53718998336792,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 96281.7923017871,
+    "Time_Data_Loading": 0.02115991512934367,
+    "Time_Epoch": 0.455358346303304,
+    "Time_Log_Info": 0.010207466284434,
+    "Time_Process_Batch": 0.022742486000061034,
+    "Time_Train_Batch": 0.3978829065958659
+}
+
+Epoch 263 Memory Usage: 3135 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
+Train Epoch 264
+{
+    "Log_Likelihood": 19.526169738769532,
+    "Loss": -19.526169738769532,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88938.08067189672,
+    "Time_Data_Loading": 0.02243811289469401,
+    "Time_Epoch": 0.45648807287216187,
+    "Time_Log_Info": 0.010165917873382568,
+    "Time_Process_Batch": 0.023368839422861734,
+    "Time_Train_Batch": 0.39717106024424237
+}
+
+Epoch 264 Memory Usage: 3135 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 265
+{
+    "Log_Likelihood": 19.54478187942505,
+    "Loss": -19.54478187942505,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98208.16358061718,
+    "Time_Data_Loading": 0.02089096705118815,
+    "Time_Epoch": 0.45482990344365437,
+    "Time_Log_Info": 0.0102105975151062,
+    "Time_Process_Batch": 0.0225564440091451,
+    "Time_Train_Batch": 0.39782021443049115
+}
+
+Epoch 265 Memory Usage: 3136 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 266
+{
+    "Log_Likelihood": 19.56928105163574,
+    "Loss": -19.56928105163574,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95193.23454064253,
+    "Time_Data_Loading": 0.021201451619466145,
+    "Time_Epoch": 0.45425217151641845,
+    "Time_Log_Info": 0.01027164856592814,
+    "Time_Process_Batch": 0.02206399440765381,
+    "Time_Train_Batch": 0.3974185506502787
+}
+
+Epoch 266 Memory Usage: 3136 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 267
+{
+    "Log_Likelihood": 19.52520516586304,
+    "Loss": -19.52520516586304,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93390.3627144339,
+    "Time_Data_Loading": 0.02123105525970459,
+    "Time_Epoch": 0.4539502739906311,
+    "Time_Log_Info": 0.01022265354792277,
+    "Time_Process_Batch": 0.02238313357035319,
+    "Time_Train_Batch": 0.3967991630236308
+}
+
+Epoch 267 Memory Usage: 3135 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.30it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 268
+{
+    "Log_Likelihood": 19.51971593093872,
+    "Loss": -19.51971593093872,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98429.19963369683,
+    "Time_Data_Loading": 0.021671136220296223,
+    "Time_Epoch": 0.4547362208366394,
+    "Time_Log_Info": 0.010233473777770997,
+    "Time_Process_Batch": 0.02228852907816569,
+    "Time_Train_Batch": 0.3972314635912577
+}
+
+Epoch 268 Memory Usage: 3136 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 269
+{
+    "Log_Likelihood": 19.457573654174805,
+    "Loss": -19.457573654174805,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92341.15101077963,
+    "Time_Data_Loading": 0.02174924612045288,
+    "Time_Epoch": 0.4562562028566996,
+    "Time_Log_Info": 0.010175025463104248,
+    "Time_Process_Batch": 0.023106865088144937,
+    "Time_Train_Batch": 0.39791006247202554
+}
+
+Epoch 269 Memory Usage: 3137 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 270
+{
+    "Log_Likelihood": 19.55425541305542,
+    "Loss": -19.55425541305542,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 99397.80234920669,
+    "Time_Data_Loading": 0.021540371576944987,
+    "Time_Epoch": 0.4559460520744324,
+    "Time_Log_Info": 0.010181474685668945,
+    "Time_Process_Batch": 0.023042682806650797,
+    "Time_Train_Batch": 0.39781213998794557
+}
+
+Epoch 270 Memory Usage: 3137 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 271
+{
+    "Log_Likelihood": 19.614919040679933,
+    "Loss": -19.614919040679933,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 87587.30659551894,
+    "Time_Data_Loading": 0.020880019664764403,
+    "Time_Epoch": 0.45429735581080116,
+    "Time_Log_Info": 0.0102570374806722,
+    "Time_Process_Batch": 0.02208701769510905,
+    "Time_Train_Batch": 0.3976273417472839
+}
+
+Epoch 271 Memory Usage: 3138 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 272
+{
+    "Log_Likelihood": 19.596623954772948,
+    "Loss": -19.596623954772948,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98253.14007980027,
+    "Time_Data_Loading": 0.02129695415496826,
+    "Time_Epoch": 0.45460492769877114,
+    "Time_Log_Info": 0.010260077317555745,
+    "Time_Process_Batch": 0.022084991137186687,
+    "Time_Train_Batch": 0.39757405122121176
+}
+
+Epoch 272 Memory Usage: 3138 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 273
+{
+    "Log_Likelihood": 19.522627529144287,
+    "Loss": -19.522627529144287,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91880.33481314786,
+    "Time_Data_Loading": 0.021669137477874755,
+    "Time_Epoch": 0.45594005982081093,
+    "Time_Log_Info": 0.010226293404897054,
+    "Time_Process_Batch": 0.02275778849919637,
+    "Time_Train_Batch": 0.3979378859202067
+}
+
+Epoch 273 Memory Usage: 3138 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 274
+{
+    "Log_Likelihood": 19.605307022094728,
+    "Loss": -19.605307022094728,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 88383.71284869051,
+    "Time_Data_Loading": 0.021408466498057048,
+    "Time_Epoch": 0.45552788575490316,
+    "Time_Log_Info": 0.010227795441945393,
+    "Time_Process_Batch": 0.022844831148783367,
+    "Time_Train_Batch": 0.3977255463600159
+}
+
+Epoch 274 Memory Usage: 3139 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 275
+{
+    "Log_Likelihood": 19.575978050231935,
+    "Loss": -19.575978050231935,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 96097.38776828215,
+    "Time_Data_Loading": 0.02148656447728475,
+    "Time_Epoch": 0.4547766923904419,
+    "Time_Log_Info": 0.010222987333933512,
+    "Time_Process_Batch": 0.022374947865804035,
+    "Time_Train_Batch": 0.3973133007685343
+}
+
+Epoch 275 Memory Usage: 3139 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 276
+{
+    "Log_Likelihood": 19.607938369750975,
+    "Loss": -19.607938369750975,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98706.77599484994,
+    "Time_Data_Loading": 0.020733551184336344,
+    "Time_Epoch": 0.45482865571975706,
+    "Time_Log_Info": 0.0102059006690979,
+    "Time_Process_Batch": 0.022615039348602296,
+    "Time_Train_Batch": 0.39793953895568845
+}
+
+Epoch 276 Memory Usage: 3138 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 277
+{
+    "Log_Likelihood": 19.65758940887451,
+    "Loss": -19.65758940887451,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90305.66799023053,
+    "Time_Data_Loading": 0.021650099754333497,
+    "Time_Epoch": 0.455558975537618,
+    "Time_Log_Info": 0.010248100757598877,
+    "Time_Process_Batch": 0.022666247685750325,
+    "Time_Train_Batch": 0.3976020892461141
+}
+
+Epoch 277 Memory Usage: 3139 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 278
+{
+    "Log_Likelihood": 19.614267612457276,
+    "Loss": -19.614267612457276,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92289.29810185025,
+    "Time_Data_Loading": 0.020900809764862062,
+    "Time_Epoch": 0.4541927973429362,
+    "Time_Log_Info": 0.010249427954355876,
+    "Time_Process_Batch": 0.022181129455566405,
+    "Time_Train_Batch": 0.3974692583084106
+}
+
+Epoch 278 Memory Usage: 3140 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 279
+{
+    "Log_Likelihood": 19.588979457855224,
+    "Loss": -19.588979457855224,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91160.44209544233,
+    "Time_Data_Loading": 0.021279350916544596,
+    "Time_Epoch": 0.4552704970041911,
+    "Time_Log_Info": 0.01024094025293986,
+    "Time_Process_Batch": 0.022805500030517577,
+    "Time_Train_Batch": 0.3975480556488037
+}
+
+Epoch 279 Memory Usage: 3141 MB
+
+
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+Train Epoch 280
+{
+    "Log_Likelihood": 19.626254196166993,
+    "Loss": -19.626254196166993,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94037.81785761705,
+    "Time_Data_Loading": 0.020684866110483806,
+    "Time_Epoch": 0.45395345290501915,
+    "Time_Log_Info": 0.01024700403213501,
+    "Time_Process_Batch": 0.022228173414866128,
+    "Time_Train_Batch": 0.39745652278264365
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_280.pth
+
+Epoch 280 Memory Usage: 3141 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 281
+{
+    "Log_Likelihood": 19.543735450744627,
+    "Loss": -19.543735450744627,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 97069.51785885346,
+    "Time_Data_Loading": 0.02110672394434611,
+    "Time_Epoch": 0.4545795361200968,
+    "Time_Log_Info": 0.010241631666819255,
+    "Time_Process_Batch": 0.022472254435221353,
+    "Time_Train_Batch": 0.3974353830019633
+}
+
+Epoch 281 Memory Usage: 3141 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 282
+{
+    "Log_Likelihood": 19.597805084228515,
+    "Loss": -19.597805084228515,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90100.04851259613,
+    "Time_Data_Loading": 0.021120897928873696,
+    "Time_Epoch": 0.45485283931096393,
+    "Time_Log_Info": 0.010214300950368245,
+    "Time_Process_Batch": 0.02226835091908773,
+    "Time_Train_Batch": 0.3976154843966166
+}
+
+Epoch 282 Memory Usage: 3142 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 283
+{
+    "Log_Likelihood": 19.615856105804443,
+    "Loss": -19.615856105804443,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100823.47527805978,
+    "Time_Data_Loading": 0.02087693214416504,
+    "Time_Epoch": 0.45415732860565183,
+    "Time_Log_Info": 0.010258734226226807,
+    "Time_Process_Batch": 0.022164491812388103,
+    "Time_Train_Batch": 0.39755653142929076
+}
+
+Epoch 283 Memory Usage: 3142 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 284
+{
+    "Log_Likelihood": 19.56543801879883,
+    "Loss": -19.56543801879883,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 97147.21032988203,
+    "Time_Data_Loading": 0.02141692638397217,
+    "Time_Epoch": 0.45535956223805746,
+    "Time_Log_Info": 0.010221485296885173,
+    "Time_Process_Batch": 0.022600388526916503,
+    "Time_Train_Batch": 0.39774015347162883
+}
+
+Epoch 284 Memory Usage: 3142 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 285
+{
+    "Log_Likelihood": 19.633993007659914,
+    "Loss": -19.633993007659914,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 96106.73217182662,
+    "Time_Data_Loading": 0.020966529846191406,
+    "Time_Epoch": 0.45494776566823325,
+    "Time_Log_Info": 0.010203146934509277,
+    "Time_Process_Batch": 0.022534767786661785,
+    "Time_Train_Batch": 0.39767773548762003
+}
+
+Epoch 285 Memory Usage: 3143 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.31it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 286
+{
+    "Log_Likelihood": 19.58436933517456,
+    "Loss": -19.58436933517456,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 102034.99274806622,
+    "Time_Data_Loading": 0.021874086062113444,
+    "Time_Epoch": 0.45749276876449585,
+    "Time_Log_Info": 0.010130063692728678,
+    "Time_Process_Batch": 0.023457447687784832,
+    "Time_Train_Batch": 0.398734978834788
+}
+
+Epoch 286 Memory Usage: 3143 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.37it/s]
+Train Epoch 287
+{
+    "Log_Likelihood": 19.645691387176512,
+    "Loss": -19.645691387176512,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94669.07661490473,
+    "Time_Data_Loading": 0.02190232276916504,
+    "Time_Epoch": 0.4563898086547852,
+    "Time_Log_Info": 0.010129348436991373,
+    "Time_Process_Batch": 0.02328509489695231,
+    "Time_Train_Batch": 0.3977139711380005
+}
+
+Epoch 287 Memory Usage: 3143 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.25it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 288
+{
+    "Log_Likelihood": 19.647852291107178,
+    "Loss": -19.647852291107178,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93392.42035906456,
+    "Time_Data_Loading": 0.021256395181020103,
+    "Time_Epoch": 0.4558604876200358,
+    "Time_Log_Info": 0.01014246145884196,
+    "Time_Process_Batch": 0.022748486200968424,
+    "Time_Train_Batch": 0.398155419031779
+}
+
+Epoch 288 Memory Usage: 3143 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 289
+{
+    "Log_Likelihood": 19.466744380950928,
+    "Loss": -19.466744380950928,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95408.71300171994,
+    "Time_Data_Loading": 0.021996009349822997,
+    "Time_Epoch": 0.4559057434399923,
+    "Time_Log_Info": 0.010193276405334472,
+    "Time_Process_Batch": 0.023251152038574217,
+    "Time_Train_Batch": 0.39699294169743854
+}
+
+Epoch 289 Memory Usage: 3143 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.29it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 290
+{
+    "Log_Likelihood": 19.620562454223634,
+    "Loss": -19.620562454223634,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 96807.82708665241,
+    "Time_Data_Loading": 0.022287472089131673,
+    "Time_Epoch": 0.45686187346776325,
+    "Time_Log_Info": 0.01017902692159017,
+    "Time_Process_Batch": 0.023277199268341063,
+    "Time_Train_Batch": 0.3977500915527344
+}
+
+Epoch 290 Memory Usage: 3143 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
+Train Epoch 291
+{
+    "Log_Likelihood": 19.625437496185302,
+    "Loss": -19.625437496185302,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95166.32795937046,
+    "Time_Data_Loading": 0.022455787658691405,
+    "Time_Epoch": 0.45810023148854573,
+    "Time_Log_Info": 0.010144960880279542,
+    "Time_Process_Batch": 0.023760771751403807,
+    "Time_Train_Batch": 0.398280664285024
+}
+
+Epoch 291 Memory Usage: 3144 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 292
+{
+    "Log_Likelihood": 19.643737213134767,
+    "Loss": -19.643737213134767,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92221.14834612688,
+    "Time_Data_Loading": 0.021756720542907716,
+    "Time_Epoch": 0.45590739250183104,
+    "Time_Log_Info": 0.010174477100372314,
+    "Time_Process_Batch": 0.02276115814844767,
+    "Time_Train_Batch": 0.39776790936787926
+}
+
+Epoch 292 Memory Usage: 3145 MB
+
+
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+Train Epoch 293
+{
+    "Log_Likelihood": 19.67363656616211,
+    "Loss": -19.67363656616211,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 97590.47085027251,
+    "Time_Data_Loading": 0.021710304419199626,
+    "Time_Epoch": 0.45551780859629315,
+    "Time_Log_Info": 0.010241639614105225,
+    "Time_Process_Batch": 0.022725236415863038,
+    "Time_Train_Batch": 0.3974394679069519
+}
+
+Epoch 293 Memory Usage: 3145 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 294
+{
+    "Log_Likelihood": 19.671834255218506,
+    "Loss": -19.671834255218506,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94824.91217706648,
+    "Time_Data_Loading": 0.021092100938161214,
+    "Time_Epoch": 0.45390522480010986,
+    "Time_Log_Info": 0.010266156991322835,
+    "Time_Process_Batch": 0.022368021806081138,
+    "Time_Train_Batch": 0.3967370947202047
+}
+
+Epoch 294 Memory Usage: 3145 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 295
+{
+    "Log_Likelihood": 19.624240047454833,
+    "Loss": -19.624240047454833,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92709.88549284587,
+    "Time_Data_Loading": 0.02144162654876709,
+    "Time_Epoch": 0.455224072933197,
+    "Time_Log_Info": 0.010220619042714436,
+    "Time_Process_Batch": 0.02237257162729899,
+    "Time_Train_Batch": 0.3978086272875468
+}
+
+Epoch 295 Memory Usage: 3145 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.71it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 296
+{
+    "Log_Likelihood": 19.661766120910645,
+    "Loss": -19.661766120910645,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89807.38542531324,
+    "Time_Data_Loading": 0.02166139284769694,
+    "Time_Epoch": 0.4558621327082316,
+    "Time_Log_Info": 0.010220487912495932,
+    "Time_Process_Batch": 0.02307472626368205,
+    "Time_Train_Batch": 0.3975862622261047
+}
+
+Epoch 296 Memory Usage: 3146 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 297
+{
+    "Log_Likelihood": 19.647214027404786,
+    "Loss": -19.647214027404786,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 102987.54572368687,
+    "Time_Data_Loading": 0.020741355419158936,
+    "Time_Epoch": 0.45395588874816895,
+    "Time_Log_Info": 0.010228888193766276,
+    "Time_Process_Batch": 0.021987783908843993,
+    "Time_Train_Batch": 0.39758846362431843
+}
+
+Epoch 297 Memory Usage: 3146 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 298
+{
+    "Log_Likelihood": 19.66586672973633,
+    "Loss": -19.66586672973633,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100479.55943481775,
+    "Time_Data_Loading": 0.021142073472340903,
+    "Time_Epoch": 0.4549892505009969,
+    "Time_Log_Info": 0.01023958921432495,
+    "Time_Process_Batch": 0.022298753261566162,
+    "Time_Train_Batch": 0.3980106472969055
+}
+
+Epoch 298 Memory Usage: 3147 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 299
+{
+    "Log_Likelihood": 19.663483154296873,
+    "Loss": -19.663483154296873,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92939.60638016439,
+    "Time_Data_Loading": 0.021066315968831382,
+    "Time_Epoch": 0.4544897596041361,
+    "Time_Log_Info": 0.010210967063903809,
+    "Time_Process_Batch": 0.022283236185709637,
+    "Time_Train_Batch": 0.39746933778127036
+}
+
+Epoch 299 Memory Usage: 3147 MB
+
+
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+Train Epoch 300
+{
+    "Log_Likelihood": 19.6805986366272,
+    "Loss": -19.6805986366272,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92746.52372479692,
+    "Time_Data_Loading": 0.020465068022410073,
+    "Time_Epoch": 0.45385802586873375,
+    "Time_Log_Info": 0.010231701532999675,
+    "Time_Process_Batch": 0.02214252154032389,
+    "Time_Train_Batch": 0.3975947340329488
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_300.pth
+
+Epoch 300 Memory Usage: 3147 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 301
+{
+    "Log_Likelihood": 19.644019229888915,
+    "Loss": -19.644019229888915,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98140.60536867562,
+    "Time_Data_Loading": 0.021517892678578694,
+    "Time_Epoch": 0.4570953766504923,
+    "Time_Log_Info": 0.010098934173583984,
+    "Time_Process_Batch": 0.023285496234893798,
+    "Time_Train_Batch": 0.39886114994684857
+}
+
+Epoch 301 Memory Usage: 3148 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 302
+{
+    "Log_Likelihood": 19.661143699645997,
+    "Loss": -19.661143699645997,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 97764.20489575555,
+    "Time_Data_Loading": 0.02147672176361084,
+    "Time_Epoch": 0.45568350950876874,
+    "Time_Log_Info": 0.01024561325709025,
+    "Time_Process_Batch": 0.022760951519012453,
+    "Time_Train_Batch": 0.3978712757428487
+}
+
+Epoch 302 Memory Usage: 3148 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 303
+{
+    "Log_Likelihood": 19.683007793426512,
+    "Loss": -19.683007793426512,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 101810.4849620624,
+    "Time_Data_Loading": 0.02135979731877645,
+    "Time_Epoch": 0.4553419709205627,
+    "Time_Log_Info": 0.010198068618774415,
+    "Time_Process_Batch": 0.02252126932144165,
+    "Time_Train_Batch": 0.397845721244812
+}
+
+Epoch 303 Memory Usage: 3148 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 304
+{
+    "Log_Likelihood": 19.692297145843504,
+    "Loss": -19.692297145843504,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95752.03606270382,
+    "Time_Data_Loading": 0.02127071221669515,
+    "Time_Epoch": 0.45438013871510824,
+    "Time_Log_Info": 0.010204275449117025,
+    "Time_Process_Batch": 0.0225128173828125,
+    "Time_Train_Batch": 0.39702670176823934
+}
+
+Epoch 304 Memory Usage: 3148 MB
+
+
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 50%|#####     | 251/500 [00:13<00:13, 18.18it/s]
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 51%|#####1    | 255/500 [00:13<00:13, 18.32it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 305
+{
+    "Log_Likelihood": 19.685377563476564,
+    "Loss": -19.685377563476564,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95075.78182509643,
+    "Time_Data_Loading": 0.02119233210881551,
+    "Time_Epoch": 0.45538482268651326,
+    "Time_Log_Info": 0.010217960675557454,
+    "Time_Process_Batch": 0.022507747014363606,
+    "Time_Train_Batch": 0.3979281226793925
+}
+
+Epoch 305 Memory Usage: 3149 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.65it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 306
+{
+    "Log_Likelihood": 19.7054245262146,
+    "Loss": -19.7054245262146,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92704.12951670871,
+    "Time_Data_Loading": 0.020732172330220542,
+    "Time_Epoch": 0.45467013915379845,
+    "Time_Log_Info": 0.010239136219024659,
+    "Time_Process_Batch": 0.022339061896006266,
+    "Time_Train_Batch": 0.3979367176691691
+}
+
+Epoch 306 Memory Usage: 3149 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.32it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 307
+{
+    "Log_Likelihood": 19.445346757888792,
+    "Loss": -19.445346757888792,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93638.99681043986,
+    "Time_Data_Loading": 0.02149310111999512,
+    "Time_Epoch": 0.45494638284047445,
+    "Time_Log_Info": 0.010229504108428955,
+    "Time_Process_Batch": 0.022236804167429607,
+    "Time_Train_Batch": 0.39760377407073977
+}
+
+Epoch 307 Memory Usage: 3149 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 308
+{
+    "Log_Likelihood": 19.597469242095947,
+    "Loss": -19.597469242095947,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100522.1528311692,
+    "Time_Data_Loading": 0.021601998805999757,
+    "Time_Epoch": 0.45540228684743245,
+    "Time_Log_Info": 0.010199614365895589,
+    "Time_Process_Batch": 0.022527090708414712,
+    "Time_Train_Batch": 0.39768635829289756
+}
+
+Epoch 308 Memory Usage: 3150 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 309
+{
+    "Log_Likelihood": 19.70427930831909,
+    "Loss": -19.70427930831909,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94065.32189770155,
+    "Time_Data_Loading": 0.020670350392659506,
+    "Time_Epoch": 0.45300323963165284,
+    "Time_Log_Info": 0.010232126712799073,
+    "Time_Process_Batch": 0.02172008752822876,
+    "Time_Train_Batch": 0.3970248540242513
+}
+
+Epoch 309 Memory Usage: 3150 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.64it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 310
+{
+    "Log_Likelihood": 19.7021731300354,
+    "Loss": -19.7021731300354,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100139.66919230478,
+    "Time_Data_Loading": 0.021791716416676838,
+    "Time_Epoch": 0.4558725913365682,
+    "Time_Log_Info": 0.010218687852223714,
+    "Time_Process_Batch": 0.022766053676605225,
+    "Time_Train_Batch": 0.3976865530014038
+}
+
+Epoch 310 Memory Usage: 3151 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 311
+{
+    "Log_Likelihood": 19.744351356506346,
+    "Loss": -19.744351356506346,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 96362.27142850423,
+    "Time_Data_Loading": 0.021066816647847493,
+    "Time_Epoch": 0.45424575010935464,
+    "Time_Log_Info": 0.010200830300649007,
+    "Time_Process_Batch": 0.02231755256652832,
+    "Time_Train_Batch": 0.3973677357037862
+}
+
+Epoch 311 Memory Usage: 3151 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 312
+{
+    "Log_Likelihood": 19.62207512664795,
+    "Loss": -19.62207512664795,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94992.36892251522,
+    "Time_Data_Loading": 0.02127831776936849,
+    "Time_Epoch": 0.4549257000287374,
+    "Time_Log_Info": 0.010251645247141521,
+    "Time_Process_Batch": 0.022401674588521322,
+    "Time_Train_Batch": 0.3972909450531006
+}
+
+Epoch 312 Memory Usage: 3151 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 313
+{
+    "Log_Likelihood": 19.713532398223876,
+    "Loss": -19.713532398223876,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 96186.5762086881,
+    "Time_Data_Loading": 0.021448274453481037,
+    "Time_Epoch": 0.4551411509513855,
+    "Time_Log_Info": 0.010243829091389973,
+    "Time_Process_Batch": 0.022544968128204345,
+    "Time_Train_Batch": 0.3975100517272949
+}
+
+Epoch 313 Memory Usage: 3152 MB
+
+
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 50%|#####     | 251/500 [00:13<00:13, 18.57it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.57it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.55it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.45it/s]
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 97%|#########6| 483/500 [00:26<00:00, 18.43it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.41it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.39it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.52it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.52it/s]
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 99%|#########9| 495/500 [00:26<00:00, 18.56it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 314
+{
+    "Log_Likelihood": 19.698733741760254,
+    "Loss": -19.698733741760254,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98793.2976858063,
+    "Time_Data_Loading": 0.020961511135101318,
+    "Time_Epoch": 0.4545803864796956,
+    "Time_Log_Info": 0.010255583127339681,
+    "Time_Process_Batch": 0.022527436415354412,
+    "Time_Train_Batch": 0.397434933980306
+}
+
+Epoch 314 Memory Usage: 3152 MB
+
+
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 23%|##3       | 117/500 [00:06<00:20, 18.65it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.59it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.56it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 315
+{
+    "Log_Likelihood": 19.705609954833985,
+    "Loss": -19.705609954833985,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100715.5405957487,
+    "Time_Data_Loading": 0.020800832907358804,
+    "Time_Epoch": 0.45417867104212445,
+    "Time_Log_Info": 0.010229818026224772,
+    "Time_Process_Batch": 0.022542949517567953,
+    "Time_Train_Batch": 0.39716881116231284
+}
+
+Epoch 315 Memory Usage: 3153 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 316
+{
+    "Log_Likelihood": 19.715598114013673,
+    "Loss": -19.715598114013673,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95886.69074309278,
+    "Time_Data_Loading": 0.02137818733851115,
+    "Time_Epoch": 0.4546326756477356,
+    "Time_Log_Info": 0.010223714510599773,
+    "Time_Process_Batch": 0.022345701853434246,
+    "Time_Train_Batch": 0.3972366452217102
+}
+
+Epoch 316 Memory Usage: 3153 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 317
+{
+    "Log_Likelihood": 19.727053718566893,
+    "Loss": -19.727053718566893,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 99901.84802518426,
+    "Time_Data_Loading": 0.02122246821721395,
+    "Time_Epoch": 0.45454543828964233,
+    "Time_Log_Info": 0.010218286514282226,
+    "Time_Process_Batch": 0.022506566842397054,
+    "Time_Train_Batch": 0.397243336836497
+}
+
+Epoch 317 Memory Usage: 3153 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 318
+{
+    "Log_Likelihood": 19.75212984085083,
+    "Loss": -19.75212984085083,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93018.20378741168,
+    "Time_Data_Loading": 0.02167966365814209,
+    "Time_Epoch": 0.4554285685221354,
+    "Time_Log_Info": 0.010226615269978841,
+    "Time_Process_Batch": 0.02262817621231079,
+    "Time_Train_Batch": 0.39756047328313193
+}
+
+Epoch 318 Memory Usage: 3153 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.64it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 319
+{
+    "Log_Likelihood": 19.553378036499023,
+    "Loss": -19.553378036499023,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 106494.54182872882,
+    "Time_Data_Loading": 0.020806610584259033,
+    "Time_Epoch": 0.4546496033668518,
+    "Time_Log_Info": 0.010229281584421794,
+    "Time_Process_Batch": 0.022479514280954998,
+    "Time_Train_Batch": 0.3977709134419759
+}
+
+Epoch 319 Memory Usage: 3153 MB
+
+
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+Train Epoch 320
+{
+    "Log_Likelihood": 19.69073038482666,
+    "Loss": -19.69073038482666,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94219.45255701023,
+    "Time_Data_Loading": 0.020711835225423178,
+    "Time_Epoch": 0.45452816486358644,
+    "Time_Log_Info": 0.01023037830988566,
+    "Time_Process_Batch": 0.02217557430267334,
+    "Time_Train_Batch": 0.39808849096298216
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_320.pth
+
+Epoch 320 Memory Usage: 3153 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 321
+{
+    "Log_Likelihood": 19.67657904815674,
+    "Loss": -19.67657904815674,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93610.71735070758,
+    "Time_Data_Loading": 0.0208097775777181,
+    "Time_Epoch": 0.4540474454561869,
+    "Time_Log_Info": 0.010199403762817383,
+    "Time_Process_Batch": 0.02221994400024414,
+    "Time_Train_Batch": 0.39743117888768514
+}
+
+Epoch 321 Memory Usage: 3154 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 322
+{
+    "Log_Likelihood": 19.727737731933594,
+    "Loss": -19.727737731933594,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 103864.91791077695,
+    "Time_Data_Loading": 0.021354432900746664,
+    "Time_Epoch": 0.45483216444651287,
+    "Time_Log_Info": 0.01021933952967326,
+    "Time_Process_Batch": 0.02240493694941203,
+    "Time_Train_Batch": 0.3974927624066671
+}
+
+Epoch 322 Memory Usage: 3154 MB
+
+
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 50%|#####     | 251/500 [00:13<00:13, 18.51it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.49it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.48it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 323
+{
+    "Log_Likelihood": 19.68845478439331,
+    "Loss": -19.68845478439331,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 101858.58245481519,
+    "Time_Data_Loading": 0.020637659231821696,
+    "Time_Epoch": 0.4541196346282959,
+    "Time_Log_Info": 0.010230032602945964,
+    "Time_Process_Batch": 0.02255723476409912,
+    "Time_Train_Batch": 0.3973906358083089
+}
+
+Epoch 323 Memory Usage: 3155 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 324
+{
+    "Log_Likelihood": 19.783453884124757,
+    "Loss": -19.783453884124757,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90275.36457586935,
+    "Time_Data_Loading": 0.021326192220052085,
+    "Time_Epoch": 0.45574195782343546,
+    "Time_Log_Info": 0.010195581118265788,
+    "Time_Process_Batch": 0.022815974553426106,
+    "Time_Train_Batch": 0.3980207999547323
+}
+
+Epoch 324 Memory Usage: 3156 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 325
+{
+    "Log_Likelihood": 19.733355716705322,
+    "Loss": -19.733355716705322,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98895.99384309752,
+    "Time_Data_Loading": 0.021260579427083332,
+    "Time_Epoch": 0.45487518707911173,
+    "Time_Log_Info": 0.010190339883168538,
+    "Time_Process_Batch": 0.022509956359863283,
+    "Time_Train_Batch": 0.3975433309872945
+}
+
+Epoch 325 Memory Usage: 3157 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 326
+{
+    "Log_Likelihood": 19.778533573150636,
+    "Loss": -19.778533573150636,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 97285.94375611657,
+    "Time_Data_Loading": 0.02162559429804484,
+    "Time_Epoch": 0.45538833538691204,
+    "Time_Log_Info": 0.010200854142506917,
+    "Time_Process_Batch": 0.02250238259633382,
+    "Time_Train_Batch": 0.3976789633433024
+}
+
+Epoch 326 Memory Usage: 3157 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 327
+{
+    "Log_Likelihood": 19.713058784484865,
+    "Loss": -19.713058784484865,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95634.58223505087,
+    "Time_Data_Loading": 0.02152498165766398,
+    "Time_Epoch": 0.4549610733985901,
+    "Time_Log_Info": 0.010237455368041992,
+    "Time_Process_Batch": 0.022589313983917236,
+    "Time_Train_Batch": 0.39730661710103354
+}
+
+Epoch 327 Memory Usage: 3156 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 328
+{
+    "Log_Likelihood": 19.716989555358886,
+    "Loss": -19.716989555358886,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 103306.61607612869,
+    "Time_Data_Loading": 0.02075716257095337,
+    "Time_Epoch": 0.45374764601389567,
+    "Time_Log_Info": 0.010244747002919516,
+    "Time_Process_Batch": 0.021850713094075522,
+    "Time_Train_Batch": 0.3973607778549194
+}
+
+Epoch 328 Memory Usage: 3157 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 329
+{
+    "Log_Likelihood": 19.745919971466066,
+    "Loss": -19.745919971466066,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 97265.236163328,
+    "Time_Data_Loading": 0.020976920922597248,
+    "Time_Epoch": 0.45360209147135416,
+    "Time_Log_Info": 0.010247655709584554,
+    "Time_Process_Batch": 0.02214921315511068,
+    "Time_Train_Batch": 0.39687252839406334
+}
+
+Epoch 329 Memory Usage: 3157 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.26it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 330
+{
+    "Log_Likelihood": 19.797052646636963,
+    "Loss": -19.797052646636963,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89123.51922736215,
+    "Time_Data_Loading": 0.021020297209421793,
+    "Time_Epoch": 0.4555426160494486,
+    "Time_Log_Info": 0.01020504633585612,
+    "Time_Process_Batch": 0.02230616013209025,
+    "Time_Train_Batch": 0.3985084970792135
+}
+
+Epoch 330 Memory Usage: 3157 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 331
+{
+    "Log_Likelihood": 19.78147114944458,
+    "Loss": -19.78147114944458,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94336.02661456505,
+    "Time_Data_Loading": 0.021371440092722575,
+    "Time_Epoch": 0.45538649559020994,
+    "Time_Log_Info": 0.010209067662556966,
+    "Time_Process_Batch": 0.022400144735972086,
+    "Time_Train_Batch": 0.3979099949200948
+}
+
+Epoch 331 Memory Usage: 3157 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 332
+{
+    "Log_Likelihood": 19.80117287826538,
+    "Loss": -19.80117287826538,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94771.5853329,
+    "Time_Data_Loading": 0.020854703585306802,
+    "Time_Epoch": 0.4542998194694519,
+    "Time_Log_Info": 0.010224191347757976,
+    "Time_Process_Batch": 0.022348439693450926,
+    "Time_Train_Batch": 0.3974147319793701
+}
+
+Epoch 332 Memory Usage: 3158 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 333
+{
+    "Log_Likelihood": 19.461298663139342,
+    "Loss": -19.461298663139342,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 105031.42846302879,
+    "Time_Data_Loading": 0.02065462271372477,
+    "Time_Epoch": 0.4541675806045532,
+    "Time_Log_Info": 0.010228478908538818,
+    "Time_Process_Batch": 0.022056969006856282,
+    "Time_Train_Batch": 0.3978552261988322
+}
+
+Epoch 333 Memory Usage: 3158 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 334
+{
+    "Log_Likelihood": 19.621288459777833,
+    "Loss": -19.621288459777833,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95796.05008855525,
+    "Time_Data_Loading": 0.020571744441986083,
+    "Time_Epoch": 0.45352426369984944,
+    "Time_Log_Info": 0.010240626335144044,
+    "Time_Process_Batch": 0.021903391679128012,
+    "Time_Train_Batch": 0.3974026997884115
+}
+
+Epoch 334 Memory Usage: 3158 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 335
+{
+    "Log_Likelihood": 19.640349185943602,
+    "Loss": -19.640349185943602,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 96445.0314278864,
+    "Time_Data_Loading": 0.020892043908437092,
+    "Time_Epoch": 0.4541077971458435,
+    "Time_Log_Info": 0.01025090217590332,
+    "Time_Process_Batch": 0.021985340118408202,
+    "Time_Train_Batch": 0.3973047415415446
+}
+
+Epoch 335 Memory Usage: 3159 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 336
+{
+    "Log_Likelihood": 19.786290218353273,
+    "Loss": -19.786290218353273,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94844.21801500767,
+    "Time_Data_Loading": 0.021283936500549317,
+    "Time_Epoch": 0.4548113663991292,
+    "Time_Log_Info": 0.01024086872736613,
+    "Time_Process_Batch": 0.022419079144795736,
+    "Time_Train_Batch": 0.39752384026845294
+}
+
+Epoch 336 Memory Usage: 3159 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 337
+{
+    "Log_Likelihood": 19.801004741668702,
+    "Loss": -19.801004741668702,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 99621.96105995339,
+    "Time_Data_Loading": 0.020698217550913493,
+    "Time_Epoch": 0.45368818442026776,
+    "Time_Log_Info": 0.010250997543334962,
+    "Time_Process_Batch": 0.021729350090026855,
+    "Time_Train_Batch": 0.39759185711542766
+}
+
+Epoch 337 Memory Usage: 3160 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 338
+{
+    "Log_Likelihood": 19.80687431335449,
+    "Loss": -19.80687431335449,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91702.6107030711,
+    "Time_Data_Loading": 0.021467816829681397,
+    "Time_Epoch": 0.4545958916346232,
+    "Time_Log_Info": 0.010258221626281738,
+    "Time_Process_Batch": 0.022280792395273846,
+    "Time_Train_Batch": 0.3972440997759501
+}
+
+Epoch 338 Memory Usage: 3161 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 339
+{
+    "Log_Likelihood": 19.814349788665773,
+    "Loss": -19.814349788665773,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98042.25100355419,
+    "Time_Data_Loading": 0.020600128173828124,
+    "Time_Epoch": 0.4541301687558492,
+    "Time_Log_Info": 0.010233986377716064,
+    "Time_Process_Batch": 0.02200193007787069,
+    "Time_Train_Batch": 0.3979102333386739
+}
+
+Epoch 339 Memory Usage: 3161 MB
+
+
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+Train Epoch 340
+{
+    "Log_Likelihood": 19.642332035064697,
+    "Loss": -19.642332035064697,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 99299.4755692709,
+    "Time_Data_Loading": 0.020740187168121337,
+    "Time_Epoch": 0.4535986582438151,
+    "Time_Log_Info": 0.010240928332010905,
+    "Time_Process_Batch": 0.02219796578089396,
+    "Time_Train_Batch": 0.39705326954523723
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_340.pth
+
+Epoch 340 Memory Usage: 3161 MB
+
+
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+Train Epoch 341
+{
+    "Log_Likelihood": 19.78977225494385,
+    "Loss": -19.78977225494385,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 93239.86954962733,
+    "Time_Data_Loading": 0.02083820104598999,
+    "Time_Epoch": 0.45505877733230593,
+    "Time_Log_Info": 0.010238726933797201,
+    "Time_Process_Batch": 0.022419055302937824,
+    "Time_Train_Batch": 0.3981392423311869
+}
+
+Epoch 341 Memory Usage: 3161 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.50it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.53it/s]
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100%|#########9| 499/500 [00:26<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.52it/s]
+Train Epoch 342
+{
+    "Log_Likelihood": 19.794056438446045,
+    "Loss": -19.794056438446045,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 106402.84384666893,
+    "Time_Data_Loading": 0.02019360860188802,
+    "Time_Epoch": 0.4528575460116068,
+    "Time_Log_Info": 0.0102447509765625,
+    "Time_Process_Batch": 0.021701224644978843,
+    "Time_Train_Batch": 0.3973614494005839
+}
+
+Epoch 342 Memory Usage: 3162 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.69it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 343
+{
+    "Log_Likelihood": 19.79263449859619,
+    "Loss": -19.79263449859619,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 97905.25310159611,
+    "Time_Data_Loading": 0.021125177542368572,
+    "Time_Epoch": 0.45498679478963217,
+    "Time_Log_Info": 0.010213756561279297,
+    "Time_Process_Batch": 0.022758094469706218,
+    "Time_Train_Batch": 0.3974533200263977
+}
+
+Epoch 343 Memory Usage: 3162 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 344
+{
+    "Log_Likelihood": 19.783964321136473,
+    "Loss": -19.783964321136473,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98973.01415205718,
+    "Time_Data_Loading": 0.020743171374003094,
+    "Time_Epoch": 0.45431228081385294,
+    "Time_Log_Info": 0.010220996538798014,
+    "Time_Process_Batch": 0.022305798530578614,
+    "Time_Train_Batch": 0.39757782220840454
+}
+
+Epoch 344 Memory Usage: 3162 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 345
+{
+    "Log_Likelihood": 19.791671367645264,
+    "Loss": -19.791671367645264,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100706.92560235168,
+    "Time_Data_Loading": 0.020916032791137695,
+    "Time_Epoch": 0.45469006299972536,
+    "Time_Log_Info": 0.010212067763010662,
+    "Time_Process_Batch": 0.022188607851664224,
+    "Time_Train_Batch": 0.39796568552652994
+}
+
+Epoch 345 Memory Usage: 3162 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 346
+{
+    "Log_Likelihood": 19.80510238265991,
+    "Loss": -19.80510238265991,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 99797.8388221615,
+    "Time_Data_Loading": 0.021290465195973714,
+    "Time_Epoch": 0.45416772762934365,
+    "Time_Log_Info": 0.010244655609130859,
+    "Time_Process_Batch": 0.022125399112701415,
+    "Time_Train_Batch": 0.39713571468989056
+}
+
+Epoch 346 Memory Usage: 3162 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 347
+{
+    "Log_Likelihood": 19.822802982330323,
+    "Loss": -19.822802982330323,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90161.81118329433,
+    "Time_Data_Loading": 0.020774014790852866,
+    "Time_Epoch": 0.4543833692868551,
+    "Time_Log_Info": 0.010249503453572591,
+    "Time_Process_Batch": 0.02209716240564982,
+    "Time_Train_Batch": 0.3978609124819438
+}
+
+Epoch 347 Memory Usage: 3162 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 348
+{
+    "Log_Likelihood": 19.816165157318114,
+    "Loss": -19.816165157318114,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91230.28148256284,
+    "Time_Data_Loading": 0.020507721106211345,
+    "Time_Epoch": 0.4538074016571045,
+    "Time_Log_Info": 0.010231908162434895,
+    "Time_Process_Batch": 0.02220807472864787,
+    "Time_Train_Batch": 0.39751763343811036
+}
+
+Epoch 348 Memory Usage: 3162 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 349
+{
+    "Log_Likelihood": 19.77410607147217,
+    "Loss": -19.77410607147217,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 102748.58819009738,
+    "Time_Data_Loading": 0.02093241612116496,
+    "Time_Epoch": 0.4542960524559021,
+    "Time_Log_Info": 0.010220086574554444,
+    "Time_Process_Batch": 0.022152976195017497,
+    "Time_Train_Batch": 0.3976593494415283
+}
+
+Epoch 349 Memory Usage: 3163 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 350
+{
+    "Log_Likelihood": 19.75660007095337,
+    "Loss": -19.75660007095337,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 99183.59284018567,
+    "Time_Data_Loading": 0.02056169112523397,
+    "Time_Epoch": 0.45354018608729046,
+    "Time_Log_Info": 0.010234002272288005,
+    "Time_Process_Batch": 0.021946914990743003,
+    "Time_Train_Batch": 0.3974711020787557
+}
+
+Epoch 350 Memory Usage: 3164 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 351
+{
+    "Log_Likelihood": 19.766375564575196,
+    "Loss": -19.766375564575196,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98284.49149400837,
+    "Time_Data_Loading": 0.020276681582132975,
+    "Time_Epoch": 0.453507939974467,
+    "Time_Log_Info": 0.010227425893147787,
+    "Time_Process_Batch": 0.02217181126276652,
+    "Time_Train_Batch": 0.39747626781463624
+}
+
+Epoch 351 Memory Usage: 3164 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.41it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.38it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 352
+{
+    "Log_Likelihood": 19.81616680908203,
+    "Loss": -19.81616680908203,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 103509.3682492885,
+    "Time_Data_Loading": 0.02115696668624878,
+    "Time_Epoch": 0.4548275113105774,
+    "Time_Log_Info": 0.010229210058848063,
+    "Time_Process_Batch": 0.022470120588938394,
+    "Time_Train_Batch": 0.397663422425588
+}
+
+Epoch 352 Memory Usage: 3165 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 353
+{
+    "Log_Likelihood": 19.79377995300293,
+    "Loss": -19.79377995300293,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 105397.15051847792,
+    "Time_Data_Loading": 0.021320501963297527,
+    "Time_Epoch": 0.4546853502591451,
+    "Time_Log_Info": 0.010203675429026286,
+    "Time_Process_Batch": 0.023084187507629396,
+    "Time_Train_Batch": 0.39672546784083046
+}
+
+Epoch 353 Memory Usage: 3165 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 354
+{
+    "Log_Likelihood": 19.798794555664063,
+    "Loss": -19.798794555664063,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100443.42932046356,
+    "Time_Data_Loading": 0.020938316980997723,
+    "Time_Epoch": 0.45412404934565226,
+    "Time_Log_Info": 0.010248947143554687,
+    "Time_Process_Batch": 0.02215062379837036,
+    "Time_Train_Batch": 0.39739728371302285
+}
+
+Epoch 354 Memory Usage: 3165 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 355
+{
+    "Log_Likelihood": 19.771751480102537,
+    "Loss": -19.771751480102537,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 104012.69625863055,
+    "Time_Data_Loading": 0.021290481090545654,
+    "Time_Epoch": 0.45505866209665935,
+    "Time_Log_Info": 0.010239354769388835,
+    "Time_Process_Batch": 0.022474833329518638,
+    "Time_Train_Batch": 0.39758949279785155
+}
+
+Epoch 355 Memory Usage: 3165 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 356
+{
+    "Log_Likelihood": 19.814272800445558,
+    "Loss": -19.814272800445558,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98806.03681792706,
+    "Time_Data_Loading": 0.020470933119455973,
+    "Time_Epoch": 0.4541409969329834,
+    "Time_Log_Info": 0.01025717258453369,
+    "Time_Process_Batch": 0.02199682394663493,
+    "Time_Train_Batch": 0.39786324501037595
+}
+
+Epoch 356 Memory Usage: 3165 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 357
+{
+    "Log_Likelihood": 19.81246123504639,
+    "Loss": -19.81246123504639,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108420.87215552907,
+    "Time_Data_Loading": 0.020712014039357504,
+    "Time_Epoch": 0.45361620982488,
+    "Time_Log_Info": 0.010247484842936198,
+    "Time_Process_Batch": 0.021900002161661783,
+    "Time_Train_Batch": 0.3974174420038859
+}
+
+Epoch 357 Memory Usage: 3165 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 358
+{
+    "Log_Likelihood": 19.799373970031738,
+    "Loss": -19.799373970031738,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 106307.02151257999,
+    "Time_Data_Loading": 0.021289253234863283,
+    "Time_Epoch": 0.45609963734944664,
+    "Time_Log_Info": 0.010163978735605875,
+    "Time_Process_Batch": 0.02299758990605672,
+    "Time_Train_Batch": 0.39828234910964966
+}
+
+Epoch 358 Memory Usage: 3166 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.21it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
+Train Epoch 359
+{
+    "Log_Likelihood": 19.832529174804687,
+    "Loss": -19.832529174804687,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 101821.10024335634,
+    "Time_Data_Loading": 0.021675960222880045,
+    "Time_Epoch": 0.4566537777582804,
+    "Time_Log_Info": 0.010164002577463785,
+    "Time_Process_Batch": 0.023209691047668457,
+    "Time_Train_Batch": 0.39819734493891396
+}
+
+Epoch 359 Memory Usage: 3166 MB
+
+
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+Train Epoch 360
+{
+    "Log_Likelihood": 19.8395934715271,
+    "Loss": -19.8395934715271,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94608.82679350986,
+    "Time_Data_Loading": 0.021814115842183433,
+    "Time_Epoch": 0.4565430283546448,
+    "Time_Log_Info": 0.01012192169825236,
+    "Time_Process_Batch": 0.02316908836364746,
+    "Time_Train_Batch": 0.39795761505762733
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_360.pth
+
+Epoch 360 Memory Usage: 3167 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.56it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.62it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.71it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 361
+{
+    "Log_Likelihood": 19.84869988632202,
+    "Loss": -19.84869988632202,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94323.01006687601,
+    "Time_Data_Loading": 0.02151934305826823,
+    "Time_Epoch": 0.45735878149668374,
+    "Time_Log_Info": 0.010110799471537273,
+    "Time_Process_Batch": 0.023735996087392172,
+    "Time_Train_Batch": 0.3986037015914917
+}
+
+Epoch 361 Memory Usage: 3167 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 362
+{
+    "Log_Likelihood": 19.82358762359619,
+    "Loss": -19.82358762359619,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108233.5507087585,
+    "Time_Data_Loading": 0.02054524024327596,
+    "Time_Epoch": 0.45309034585952757,
+    "Time_Log_Info": 0.010221767425537109,
+    "Time_Process_Batch": 0.02187898556391398,
+    "Time_Train_Batch": 0.39709355036417643
+}
+
+Epoch 362 Memory Usage: 3167 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.22it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
+Train Epoch 363
+{
+    "Log_Likelihood": 19.82111934661865,
+    "Loss": -19.82111934661865,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100305.84686791948,
+    "Time_Data_Loading": 0.02175134023030599,
+    "Time_Epoch": 0.45769487619400023,
+    "Time_Log_Info": 0.01007157564163208,
+    "Time_Process_Batch": 0.02358252207438151,
+    "Time_Train_Batch": 0.39886461893717445
+}
+
+Epoch 363 Memory Usage: 3167 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 364
+{
+    "Log_Likelihood": 19.687031970977785,
+    "Loss": -19.687031970977785,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 92925.29797483837,
+    "Time_Data_Loading": 0.021765955289204917,
+    "Time_Epoch": 0.45591787894566854,
+    "Time_Log_Info": 0.010162003835042318,
+    "Time_Process_Batch": 0.02314613660176595,
+    "Time_Train_Batch": 0.3974581241607666
+}
+
+Epoch 364 Memory Usage: 3167 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 365
+{
+    "Log_Likelihood": 19.79243755722046,
+    "Loss": -19.79243755722046,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100638.17927356686,
+    "Time_Data_Loading": 0.021215343475341798,
+    "Time_Epoch": 0.4552298426628113,
+    "Time_Log_Info": 0.010161868731180827,
+    "Time_Process_Batch": 0.02277923822402954,
+    "Time_Train_Batch": 0.39765502214431764
+}
+
+Epoch 365 Memory Usage: 3167 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 366
+{
+    "Log_Likelihood": 19.78155051803589,
+    "Loss": -19.78155051803589,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 95584.27478424694,
+    "Time_Data_Loading": 0.021358267466227213,
+    "Time_Epoch": 0.45639012654622396,
+    "Time_Log_Info": 0.010192922751108805,
+    "Time_Process_Batch": 0.02321466604868571,
+    "Time_Train_Batch": 0.39806599617004396
+}
+
+Epoch 366 Memory Usage: 3169 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 367
+{
+    "Log_Likelihood": 19.8233342628479,
+    "Loss": -19.8233342628479,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 101146.43838769855,
+    "Time_Data_Loading": 0.02120874325434367,
+    "Time_Epoch": 0.45605786244074503,
+    "Time_Log_Info": 0.010116958618164062,
+    "Time_Process_Batch": 0.022892280419667562,
+    "Time_Train_Batch": 0.398408051331838
+}
+
+Epoch 367 Memory Usage: 3170 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 368
+{
+    "Log_Likelihood": 19.851667934417726,
+    "Loss": -19.851667934417726,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 99733.39458114015,
+    "Time_Data_Loading": 0.021590002377827964,
+    "Time_Epoch": 0.4558782339096069,
+    "Time_Log_Info": 0.010170753796895344,
+    "Time_Process_Batch": 0.02271026372909546,
+    "Time_Train_Batch": 0.3978862166404724
+}
+
+Epoch 368 Memory Usage: 3170 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
+Train Epoch 369
+{
+    "Log_Likelihood": 19.835536067962646,
+    "Loss": -19.835536067962646,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 112413.9286241111,
+    "Time_Data_Loading": 0.0222060759862264,
+    "Time_Epoch": 0.4577105085055033,
+    "Time_Log_Info": 0.010061518351236979,
+    "Time_Process_Batch": 0.023701743284861247,
+    "Time_Train_Batch": 0.3981980919837952
+}
+
+Epoch 369 Memory Usage: 3170 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
+Train Epoch 370
+{
+    "Log_Likelihood": 19.827637088775635,
+    "Loss": -19.827637088775635,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 104592.9141962952,
+    "Time_Data_Loading": 0.021270581086476645,
+    "Time_Epoch": 0.4563301920890808,
+    "Time_Log_Info": 0.010137498378753662,
+    "Time_Process_Batch": 0.02301951249440511,
+    "Time_Train_Batch": 0.39832704067230223
+}
+
+Epoch 370 Memory Usage: 3170 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 371
+{
+    "Log_Likelihood": 19.86473678588867,
+    "Loss": -19.86473678588867,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 99641.87507195007,
+    "Time_Data_Loading": 0.021201054255167644,
+    "Time_Epoch": 0.45636172691981,
+    "Time_Log_Info": 0.010179408391316732,
+    "Time_Process_Batch": 0.022997041543324787,
+    "Time_Train_Batch": 0.39827878872553507
+}
+
+Epoch 371 Memory Usage: 3170 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
+Train Epoch 372
+{
+    "Log_Likelihood": 19.844048896789552,
+    "Loss": -19.844048896789552,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100121.36802069197,
+    "Time_Data_Loading": 0.021472036838531494,
+    "Time_Epoch": 0.4566719969113668,
+    "Time_Log_Info": 0.01013948122660319,
+    "Time_Process_Batch": 0.02305281162261963,
+    "Time_Train_Batch": 0.398511266708374
+}
+
+Epoch 372 Memory Usage: 3171 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 373
+{
+    "Log_Likelihood": 19.84885722351074,
+    "Loss": -19.84885722351074,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 104900.74095060077,
+    "Time_Data_Loading": 0.021473618348439534,
+    "Time_Epoch": 0.45628968477249143,
+    "Time_Log_Info": 0.010178172588348388,
+    "Time_Process_Batch": 0.02286243438720703,
+    "Time_Train_Batch": 0.39819868803024294
+}
+
+Epoch 373 Memory Usage: 3172 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.37it/s]
+Train Epoch 374
+{
+    "Log_Likelihood": 19.87963885498047,
+    "Loss": -19.87963885498047,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 104554.36343267481,
+    "Time_Data_Loading": 0.021651609738667806,
+    "Time_Epoch": 0.4565654158592224,
+    "Time_Log_Info": 0.010161431630452473,
+    "Time_Process_Batch": 0.023158482710520425,
+    "Time_Train_Batch": 0.3981444319089254
+}
+
+Epoch 374 Memory Usage: 3172 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
+Train Epoch 375
+{
+    "Log_Likelihood": 19.881821865081786,
+    "Loss": -19.881821865081786,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 104932.66496798937,
+    "Time_Data_Loading": 0.020930119355519614,
+    "Time_Epoch": 0.45679932832717896,
+    "Time_Log_Info": 0.010078116257985433,
+    "Time_Process_Batch": 0.022957173983256023,
+    "Time_Train_Batch": 0.3994129538536072
+}
+
+Epoch 375 Memory Usage: 3172 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 376
+{
+    "Log_Likelihood": 19.656096467971803,
+    "Loss": -19.656096467971803,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 203297.4045847239,
+    "Time_Data_Loading": 0.0215997576713562,
+    "Time_Epoch": 0.45591006676356,
+    "Time_Log_Info": 0.010155614217122395,
+    "Time_Process_Batch": 0.022622915108998616,
+    "Time_Train_Batch": 0.39814395904541017
+}
+
+Epoch 376 Memory Usage: 3172 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
+Train Epoch 377
+{
+    "Log_Likelihood": 19.249679542541504,
+    "Loss": -19.249679542541504,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 89100.8044958404,
+    "Time_Data_Loading": 0.022464521725972495,
+    "Time_Epoch": 0.4583557407061259,
+    "Time_Log_Info": 0.01007699171702067,
+    "Time_Process_Batch": 0.0235071063041687,
+    "Time_Train_Batch": 0.39879892269770306
+}
+
+Epoch 377 Memory Usage: 3173 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 378
+{
+    "Log_Likelihood": 19.67116096878052,
+    "Loss": -19.67116096878052,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 96591.33861535961,
+    "Time_Data_Loading": 0.022151347001393637,
+    "Time_Epoch": 0.4569522500038147,
+    "Time_Log_Info": 0.010156587759653727,
+    "Time_Process_Batch": 0.02315499782562256,
+    "Time_Train_Batch": 0.3980529189109802
+}
+
+Epoch 378 Memory Usage: 3173 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.30it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.25it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
+Train Epoch 379
+{
+    "Log_Likelihood": 19.767786460876465,
+    "Loss": -19.767786460876465,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 102891.93928492471,
+    "Time_Data_Loading": 0.021542243162790933,
+    "Time_Epoch": 0.4566344738006592,
+    "Time_Log_Info": 0.010142115751902263,
+    "Time_Process_Batch": 0.02323340972264608,
+    "Time_Train_Batch": 0.3983276168505351
+}
+
+Epoch 379 Memory Usage: 3174 MB
+
+
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+Train Epoch 380
+{
+    "Log_Likelihood": 19.864607067108153,
+    "Loss": -19.864607067108153,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 102959.1459600062,
+    "Time_Data_Loading": 0.02119585673014323,
+    "Time_Epoch": 0.45516383250554404,
+    "Time_Log_Info": 0.01018850008646647,
+    "Time_Process_Batch": 0.02263570229212443,
+    "Time_Train_Batch": 0.39768364826838176
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_380.pth
+
+Epoch 380 Memory Usage: 3174 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
+Train Epoch 381
+{
+    "Log_Likelihood": 19.92083078765869,
+    "Loss": -19.92083078765869,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91143.68309266189,
+    "Time_Data_Loading": 0.02179142236709595,
+    "Time_Epoch": 0.45720656712849933,
+    "Time_Log_Info": 0.010100805759429931,
+    "Time_Process_Batch": 0.02337058385213216,
+    "Time_Train_Batch": 0.3984976013501485
+}
+
+Epoch 381 Memory Usage: 3174 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.26it/s]
+Train Epoch 382
+{
+    "Log_Likelihood": 19.942991176605226,
+    "Loss": -19.942991176605226,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98572.624977225,
+    "Time_Data_Loading": 0.02232427994410197,
+    "Time_Epoch": 0.45928564071655276,
+    "Time_Log_Info": 0.010046756267547608,
+    "Time_Process_Batch": 0.024108572800954183,
+    "Time_Train_Batch": 0.39931782086690265
+}
+
+Epoch 382 Memory Usage: 3175 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 383
+{
+    "Log_Likelihood": 19.904253314971925,
+    "Loss": -19.904253314971925,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 106102.85009716227,
+    "Time_Data_Loading": 0.02107505003611247,
+    "Time_Epoch": 0.45722432136535646,
+    "Time_Log_Info": 0.010076506932576498,
+    "Time_Process_Batch": 0.023036964734395347,
+    "Time_Train_Batch": 0.3995114247004191
+}
+
+Epoch 383 Memory Usage: 3175 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.22it/s]
100%|##########| 500/500 [00:27<00:00, 18.27it/s]
+Train Epoch 384
+{
+    "Log_Likelihood": 19.895015731811522,
+    "Loss": -19.895015731811522,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98728.55556764462,
+    "Time_Data_Loading": 0.021990227699279784,
+    "Time_Epoch": 0.45912444591522217,
+    "Time_Log_Info": 0.010070097446441651,
+    "Time_Process_Batch": 0.02381878693898519,
+    "Time_Train_Batch": 0.3997562170028687
+}
+
+Epoch 384 Memory Usage: 3175 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.32it/s]
+Train Epoch 385
+{
+    "Log_Likelihood": 19.897127365112304,
+    "Loss": -19.897127365112304,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 111710.67122103435,
+    "Time_Data_Loading": 0.02159117857615153,
+    "Time_Epoch": 0.4577865719795227,
+    "Time_Log_Info": 0.010039969285329183,
+    "Time_Process_Batch": 0.023077940940856932,
+    "Time_Train_Batch": 0.39967671235402424
+}
+
+Epoch 385 Memory Usage: 3175 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.65it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 386
+{
+    "Log_Likelihood": 19.910558166503908,
+    "Loss": -19.910558166503908,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 107775.30979990808,
+    "Time_Data_Loading": 0.021328373750050863,
+    "Time_Epoch": 0.45693811575571697,
+    "Time_Log_Info": 0.010104505221048991,
+    "Time_Process_Batch": 0.02340861956278483,
+    "Time_Train_Batch": 0.3987137993176778
+}
+
+Epoch 386 Memory Usage: 3175 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.35it/s]
+Train Epoch 387
+{
+    "Log_Likelihood": 19.91631888580322,
+    "Loss": -19.91631888580322,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 101066.9734428696,
+    "Time_Data_Loading": 0.021504696210225424,
+    "Time_Epoch": 0.4568813522656759,
+    "Time_Log_Info": 0.01004477341969808,
+    "Time_Process_Batch": 0.023368080457051594,
+    "Time_Train_Batch": 0.3985493222872416
+}
+
+Epoch 387 Memory Usage: 3176 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.37it/s]
+Train Epoch 388
+{
+    "Log_Likelihood": 17.839564121246337,
+    "Loss": -17.839564121246337,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 1963124.2930252203,
+    "Time_Data_Loading": 0.02145407994588216,
+    "Time_Epoch": 0.45677414735158284,
+    "Time_Log_Info": 0.010153599580128988,
+    "Time_Process_Batch": 0.022612865765889487,
+    "Time_Train_Batch": 0.39883268674214684
+}
+
+Epoch 388 Memory Usage: 3177 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.71it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 389
+{
+    "Log_Likelihood": 19.786676609039308,
+    "Loss": -19.786676609039308,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 105393.40845811188,
+    "Time_Data_Loading": 0.020567278067270916,
+    "Time_Epoch": 0.4536888082822164,
+    "Time_Log_Info": 0.010235007603963215,
+    "Time_Process_Batch": 0.021997241179148357,
+    "Time_Train_Batch": 0.39744152228037516
+}
+
+Epoch 389 Memory Usage: 3177 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 390
+{
+    "Log_Likelihood": 19.82484558868408,
+    "Loss": -19.82484558868408,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 101546.43274421792,
+    "Time_Data_Loading": 0.02085942029953003,
+    "Time_Epoch": 0.4545256535212199,
+    "Time_Log_Info": 0.010215266545613607,
+    "Time_Process_Batch": 0.022235719362894694,
+    "Time_Train_Batch": 0.39781707525253296
+}
+
+Epoch 390 Memory Usage: 3177 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 391
+{
+    "Log_Likelihood": 19.923995788574217,
+    "Loss": -19.923995788574217,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 106536.02171936686,
+    "Time_Data_Loading": 0.020941436290740967,
+    "Time_Epoch": 0.4545434872309367,
+    "Time_Log_Info": 0.010208276907602946,
+    "Time_Process_Batch": 0.022273321946461994,
+    "Time_Train_Batch": 0.3976953705151876
+}
+
+Epoch 391 Memory Usage: 3178 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 392
+{
+    "Log_Likelihood": 19.963505771636964,
+    "Loss": -19.963505771636964,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 90704.43355356592,
+    "Time_Data_Loading": 0.021017225583394368,
+    "Time_Epoch": 0.45437915325164796,
+    "Time_Log_Info": 0.01022508144378662,
+    "Time_Process_Batch": 0.021976613998413087,
+    "Time_Train_Batch": 0.397713037331899
+}
+
+Epoch 392 Memory Usage: 3178 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 393
+{
+    "Log_Likelihood": 19.93890369415283,
+    "Loss": -19.93890369415283,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 106307.83838609335,
+    "Time_Data_Loading": 0.02119088570276896,
+    "Time_Epoch": 0.45506831010182697,
+    "Time_Log_Info": 0.010234363873799642,
+    "Time_Process_Batch": 0.022388009230295818,
+    "Time_Train_Batch": 0.39784804979960126
+}
+
+Epoch 393 Memory Usage: 3178 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 394
+{
+    "Log_Likelihood": 19.91841325378418,
+    "Loss": -19.91841325378418,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 106750.3989650166,
+    "Time_Data_Loading": 0.02086634635925293,
+    "Time_Epoch": 0.45445975065231325,
+    "Time_Log_Info": 0.010200448830922445,
+    "Time_Process_Batch": 0.022103166580200194,
+    "Time_Train_Batch": 0.39790995518366495
+}
+
+Epoch 394 Memory Usage: 3178 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 395
+{
+    "Log_Likelihood": 19.89481494140625,
+    "Loss": -19.89481494140625,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 96387.49420216637,
+    "Time_Data_Loading": 0.021066864331563313,
+    "Time_Epoch": 0.45524627367655435,
+    "Time_Log_Info": 0.010225820541381835,
+    "Time_Process_Batch": 0.02297830581665039,
+    "Time_Train_Batch": 0.39762855768203736
+}
+
+Epoch 395 Memory Usage: 3178 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 396
+{
+    "Log_Likelihood": 19.90689175415039,
+    "Loss": -19.90689175415039,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 106402.33176011975,
+    "Time_Data_Loading": 0.02099575599034627,
+    "Time_Epoch": 0.4550723512967428,
+    "Time_Log_Info": 0.010223519802093507,
+    "Time_Process_Batch": 0.022308659553527833,
+    "Time_Train_Batch": 0.39798513650894163
+}
+
+Epoch 396 Memory Usage: 3179 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 397
+{
+    "Log_Likelihood": 19.88771750640869,
+    "Loss": -19.88771750640869,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 103467.10045068893,
+    "Time_Data_Loading": 0.02065053383509318,
+    "Time_Epoch": 0.4537363131841024,
+    "Time_Log_Info": 0.010239923000335693,
+    "Time_Process_Batch": 0.021959694226582845,
+    "Time_Train_Batch": 0.39721027612686155
+}
+
+Epoch 397 Memory Usage: 3180 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 398
+{
+    "Log_Likelihood": 19.900293395996094,
+    "Loss": -19.900293395996094,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 109248.45149428013,
+    "Time_Data_Loading": 0.02077869971593221,
+    "Time_Epoch": 0.4541072885195414,
+    "Time_Log_Info": 0.010217726230621338,
+    "Time_Process_Batch": 0.02229221264521281,
+    "Time_Train_Batch": 0.39736517270406085
+}
+
+Epoch 398 Memory Usage: 3180 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 399
+{
+    "Log_Likelihood": 19.880016132354736,
+    "Loss": -19.880016132354736,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 103600.09186453809,
+    "Time_Data_Loading": 0.021321352322896323,
+    "Time_Epoch": 0.45506952206293744,
+    "Time_Log_Info": 0.010241488615671793,
+    "Time_Process_Batch": 0.02229165236155192,
+    "Time_Train_Batch": 0.39777003129323324
+}
+
+Epoch 399 Memory Usage: 3180 MB
+
+
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+Train Epoch 400
+{
+    "Log_Likelihood": 19.902216606140136,
+    "Loss": -19.902216606140136,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 103214.04023906245,
+    "Time_Data_Loading": 0.021121517817179362,
+    "Time_Epoch": 0.45481142203013103,
+    "Time_Log_Info": 0.010206536451975504,
+    "Time_Process_Batch": 0.022190014521280926,
+    "Time_Train_Batch": 0.3978487133979797
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_400.pth
+
+Epoch 400 Memory Usage: 3180 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 401
+{
+    "Log_Likelihood": 19.912389358520507,
+    "Loss": -19.912389358520507,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 105081.1688071027,
+    "Time_Data_Loading": 0.021432797114054363,
+    "Time_Epoch": 0.45447007020314534,
+    "Time_Log_Info": 0.010213160514831543,
+    "Time_Process_Batch": 0.02223174969355265,
+    "Time_Train_Batch": 0.39705132246017455
+}
+
+Epoch 401 Memory Usage: 3180 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 402
+{
+    "Log_Likelihood": 19.87626137161255,
+    "Loss": -19.87626137161255,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 107044.44703899889,
+    "Time_Data_Loading": 0.021177860101064046,
+    "Time_Epoch": 0.45471858978271484,
+    "Time_Log_Info": 0.010235325495402018,
+    "Time_Process_Batch": 0.022411680221557616,
+    "Time_Train_Batch": 0.39749883810679115
+}
+
+Epoch 402 Memory Usage: 3180 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 403
+{
+    "Log_Likelihood": 19.922487621307372,
+    "Loss": -19.922487621307372,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 112054.16357390565,
+    "Time_Data_Loading": 0.021692355473836262,
+    "Time_Epoch": 0.4554264227549235,
+    "Time_Log_Info": 0.010219450791676838,
+    "Time_Process_Batch": 0.02233145236968994,
+    "Time_Train_Batch": 0.39773770968119304
+}
+
+Epoch 403 Memory Usage: 3181 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 404
+{
+    "Log_Likelihood": 19.920984661102295,
+    "Loss": -19.920984661102295,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 105942.71508981606,
+    "Time_Data_Loading": 0.02059338887532552,
+    "Time_Epoch": 0.4539152026176453,
+    "Time_Log_Info": 0.010207374890645346,
+    "Time_Process_Batch": 0.022041734059651694,
+    "Time_Train_Batch": 0.39771170218785606
+}
+
+Epoch 404 Memory Usage: 3182 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 405
+{
+    "Log_Likelihood": 19.88411317062378,
+    "Loss": -19.88411317062378,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98276.82709321225,
+    "Time_Data_Loading": 0.02097157637278239,
+    "Time_Epoch": 0.4534054716428121,
+    "Time_Log_Info": 0.010235567887624105,
+    "Time_Process_Batch": 0.022084184487660728,
+    "Time_Train_Batch": 0.39665058453877766
+}
+
+Epoch 405 Memory Usage: 3181 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 406
+{
+    "Log_Likelihood": 19.922352306365966,
+    "Loss": -19.922352306365966,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100775.8205874898,
+    "Time_Data_Loading": 0.020774173736572265,
+    "Time_Epoch": 0.45480239391326904,
+    "Time_Log_Info": 0.010236787796020507,
+    "Time_Process_Batch": 0.022238139311472574,
+    "Time_Train_Batch": 0.3980666915575663
+}
+
+Epoch 406 Memory Usage: 3182 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 407
+{
+    "Log_Likelihood": 19.88171342086792,
+    "Loss": -19.88171342086792,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 112066.01037672177,
+    "Time_Data_Loading": 0.020850253105163575,
+    "Time_Epoch": 0.4543713529904683,
+    "Time_Log_Info": 0.010264722506205241,
+    "Time_Process_Batch": 0.022344501813252766,
+    "Time_Train_Batch": 0.39748395681381227
+}
+
+Epoch 407 Memory Usage: 3182 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.35it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 408
+{
+    "Log_Likelihood": 19.98759623336792,
+    "Loss": -19.98759623336792,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 94655.27083409764,
+    "Time_Data_Loading": 0.021343545118967692,
+    "Time_Epoch": 0.4547378023465474,
+    "Time_Log_Info": 0.010228832562764486,
+    "Time_Process_Batch": 0.022174636522928875,
+    "Time_Train_Batch": 0.3975892663002014
+}
+
+Epoch 408 Memory Usage: 3183 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 409
+{
+    "Log_Likelihood": 19.93175748825073,
+    "Loss": -19.93175748825073,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108281.12466373423,
+    "Time_Data_Loading": 0.020499018828074138,
+    "Time_Epoch": 0.45403480529785156,
+    "Time_Log_Info": 0.01023087501525879,
+    "Time_Process_Batch": 0.02200719912846883,
+    "Time_Train_Batch": 0.3977509299914042
+}
+
+Epoch 409 Memory Usage: 3184 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.70it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 410
+{
+    "Log_Likelihood": 19.877302585601807,
+    "Loss": -19.877302585601807,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110274.96146087423,
+    "Time_Data_Loading": 0.02107265790303548,
+    "Time_Epoch": 0.45499072869618734,
+    "Time_Log_Info": 0.01021811564763387,
+    "Time_Process_Batch": 0.022406359513600666,
+    "Time_Train_Batch": 0.3977526664733887
+}
+
+Epoch 410 Memory Usage: 3184 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 411
+{
+    "Log_Likelihood": 19.91216250991821,
+    "Loss": -19.91216250991821,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108449.7365543668,
+    "Time_Data_Loading": 0.02157746950785319,
+    "Time_Epoch": 0.4549716114997864,
+    "Time_Log_Info": 0.010234447320302327,
+    "Time_Process_Batch": 0.022290345033009848,
+    "Time_Train_Batch": 0.3974740584691366
+}
+
+Epoch 411 Memory Usage: 3185 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
+Train Epoch 412
+{
+    "Log_Likelihood": 19.992070568084717,
+    "Loss": -19.992070568084717,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 101660.21484164894,
+    "Time_Data_Loading": 0.02193777561187744,
+    "Time_Epoch": 0.4566491444905599,
+    "Time_Log_Info": 0.010188766320546468,
+    "Time_Process_Batch": 0.02317210038503011,
+    "Time_Train_Batch": 0.39780394633611044
+}
+
+Epoch 412 Memory Usage: 3185 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.69it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 413
+{
+    "Log_Likelihood": 19.95709595489502,
+    "Loss": -19.95709595489502,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 104162.41189039352,
+    "Time_Data_Loading": 0.020747156937917073,
+    "Time_Epoch": 0.45392787059148154,
+    "Time_Log_Info": 0.010233616828918457,
+    "Time_Process_Batch": 0.022056774298350016,
+    "Time_Train_Batch": 0.39744925101598105
+}
+
+Epoch 413 Memory Usage: 3185 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 414
+{
+    "Log_Likelihood": 19.981620838165284,
+    "Loss": -19.981620838165284,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110334.12622488802,
+    "Time_Data_Loading": 0.02148205041885376,
+    "Time_Epoch": 0.4551845630009969,
+    "Time_Log_Info": 0.010189684232076009,
+    "Time_Process_Batch": 0.022259374459584553,
+    "Time_Train_Batch": 0.39786596298217775
+}
+
+Epoch 414 Memory Usage: 3185 MB
+
+
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100%|##########| 500/500 [00:26<00:00, 18.56it/s]
+Train Epoch 415
+{
+    "Log_Likelihood": 19.9912619934082,
+    "Loss": -19.9912619934082,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 101699.6311825304,
+    "Time_Data_Loading": 0.019784708817799885,
+    "Time_Epoch": 0.45196651220321654,
+    "Time_Log_Info": 0.010239736239115397,
+    "Time_Process_Batch": 0.02122025489807129,
+    "Time_Train_Batch": 0.39732131560643513
+}
+
+Epoch 415 Memory Usage: 3185 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.28it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 416
+{
+    "Log_Likelihood": 19.922309658050537,
+    "Loss": -19.922309658050537,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 102663.8692644214,
+    "Time_Data_Loading": 0.020616984367370604,
+    "Time_Epoch": 0.45390525658925374,
+    "Time_Log_Info": 0.010215942064921062,
+    "Time_Process_Batch": 0.02221017281214396,
+    "Time_Train_Batch": 0.3974353631337484
+}
+
+Epoch 416 Memory Usage: 3186 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 417
+{
+    "Log_Likelihood": 19.872944229125977,
+    "Loss": -19.872944229125977,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 105725.33715662801,
+    "Time_Data_Loading": 0.02138352394104004,
+    "Time_Epoch": 0.4548090656598409,
+    "Time_Log_Info": 0.010207120577494304,
+    "Time_Process_Batch": 0.0220647136370341,
+    "Time_Train_Batch": 0.3978027939796448
+}
+
+Epoch 417 Memory Usage: 3186 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 418
+{
+    "Log_Likelihood": 20.00443510055542,
+    "Loss": -20.00443510055542,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 112696.19066317755,
+    "Time_Data_Loading": 0.020502487818400066,
+    "Time_Epoch": 0.4540284276008606,
+    "Time_Log_Info": 0.0102235476175944,
+    "Time_Process_Batch": 0.021984398365020752,
+    "Time_Train_Batch": 0.3978476881980896
+}
+
+Epoch 418 Memory Usage: 3187 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 419
+{
+    "Log_Likelihood": 19.955874267578125,
+    "Loss": -19.955874267578125,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 97333.17033811772,
+    "Time_Data_Loading": 0.021251559257507324,
+    "Time_Epoch": 0.45496310393015543,
+    "Time_Log_Info": 0.01023241678873698,
+    "Time_Process_Batch": 0.02233529488245646,
+    "Time_Train_Batch": 0.3976887504259745
+}
+
+Epoch 419 Memory Usage: 3187 MB
+
+
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+Train Epoch 420
+{
+    "Log_Likelihood": 19.98886054611206,
+    "Loss": -19.98886054611206,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 101839.90585006477,
+    "Time_Data_Loading": 0.021721025307973225,
+    "Time_Epoch": 0.4557525873184204,
+    "Time_Log_Info": 0.01021648645401001,
+    "Time_Process_Batch": 0.022487127780914308,
+    "Time_Train_Batch": 0.39785993893941246
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_420.pth
+
+Epoch 420 Memory Usage: 3188 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 421
+{
+    "Log_Likelihood": 19.97746160888672,
+    "Loss": -19.97746160888672,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 105820.54638160697,
+    "Time_Data_Loading": 0.020840581258138022,
+    "Time_Epoch": 0.454073174794515,
+    "Time_Log_Info": 0.01020501454671224,
+    "Time_Process_Batch": 0.02218360106150309,
+    "Time_Train_Batch": 0.3974607507387797
+}
+
+Epoch 421 Memory Usage: 3187 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 422
+{
+    "Log_Likelihood": 19.979539928436278,
+    "Loss": -19.979539928436278,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 102815.21392392175,
+    "Time_Data_Loading": 0.0211259126663208,
+    "Time_Epoch": 0.4544667442639669,
+    "Time_Log_Info": 0.010236569245656331,
+    "Time_Process_Batch": 0.021939547856648763,
+    "Time_Train_Batch": 0.39775123198827106
+}
+
+Epoch 422 Memory Usage: 3188 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.25it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 423
+{
+    "Log_Likelihood": 20.003712070465088,
+    "Loss": -20.003712070465088,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110704.68939509228,
+    "Time_Data_Loading": 0.020966037114461263,
+    "Time_Epoch": 0.45431626637776695,
+    "Time_Log_Info": 0.010181879997253418,
+    "Time_Process_Batch": 0.02221764326095581,
+    "Time_Train_Batch": 0.39754055738449096
+}
+
+Epoch 423 Memory Usage: 3188 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.75it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 424
+{
+    "Log_Likelihood": 20.028882526397705,
+    "Loss": -20.028882526397705,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100869.94152074578,
+    "Time_Data_Loading": 0.020535314083099367,
+    "Time_Epoch": 0.4535558303197225,
+    "Time_Log_Info": 0.010219883918762208,
+    "Time_Process_Batch": 0.02168863614400228,
+    "Time_Train_Batch": 0.3976614753405253
+}
+
+Epoch 424 Memory Usage: 3188 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 425
+{
+    "Log_Likelihood": 19.98848397064209,
+    "Loss": -19.98848397064209,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 106262.83781894973,
+    "Time_Data_Loading": 0.020635954538981118,
+    "Time_Epoch": 0.4537785768508911,
+    "Time_Log_Info": 0.010219470659891764,
+    "Time_Process_Batch": 0.022063855330149332,
+    "Time_Train_Batch": 0.39755301078160604
+}
+
+Epoch 425 Memory Usage: 3189 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 426
+{
+    "Log_Likelihood": 20.001327953338624,
+    "Loss": -20.001327953338624,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108196.19364246134,
+    "Time_Data_Loading": 0.02097871700922648,
+    "Time_Epoch": 0.454283873240153,
+    "Time_Log_Info": 0.010223841667175293,
+    "Time_Process_Batch": 0.02196450630823771,
+    "Time_Train_Batch": 0.397587255636851
+}
+
+Epoch 426 Memory Usage: 3189 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 427
+{
+    "Log_Likelihood": 20.009013263702393,
+    "Loss": -20.009013263702393,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 104523.99764196068,
+    "Time_Data_Loading": 0.020585930347442626,
+    "Time_Epoch": 0.45309159755706785,
+    "Time_Log_Info": 0.010238516330718993,
+    "Time_Process_Batch": 0.02177061637242635,
+    "Time_Train_Batch": 0.397070050239563
+}
+
+Epoch 427 Memory Usage: 3189 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 428
+{
+    "Log_Likelihood": 20.045646129608155,
+    "Loss": -20.045646129608155,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 91996.45472274364,
+    "Time_Data_Loading": 0.020917479197184244,
+    "Time_Epoch": 0.45424302021662394,
+    "Time_Log_Info": 0.010224807262420654,
+    "Time_Process_Batch": 0.022164944807688394,
+    "Time_Train_Batch": 0.3975059429804484
+}
+
+Epoch 428 Memory Usage: 3189 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 429
+{
+    "Log_Likelihood": 20.006344116210936,
+    "Loss": -20.006344116210936,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 113690.86925352908,
+    "Time_Data_Loading": 0.02046454350153605,
+    "Time_Epoch": 0.45369722445805866,
+    "Time_Log_Info": 0.01023397445678711,
+    "Time_Process_Batch": 0.021902485688527425,
+    "Time_Train_Batch": 0.3976508617401123
+}
+
+Epoch 429 Memory Usage: 3190 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.33it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 430
+{
+    "Log_Likelihood": 20.037256481170655,
+    "Loss": -20.037256481170655,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108860.95996270943,
+    "Time_Data_Loading": 0.021439766883850096,
+    "Time_Epoch": 0.45446580251057944,
+    "Time_Log_Info": 0.010251033306121825,
+    "Time_Process_Batch": 0.022095874945322672,
+    "Time_Train_Batch": 0.3973035097122192
+}
+
+Epoch 430 Memory Usage: 3190 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.68it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 431
+{
+    "Log_Likelihood": 20.035701320648194,
+    "Loss": -20.035701320648194,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 107768.29926812029,
+    "Time_Data_Loading": 0.021479344367980956,
+    "Time_Epoch": 0.45506528615951536,
+    "Time_Log_Info": 0.010231884320576985,
+    "Time_Process_Batch": 0.022555232048034668,
+    "Time_Train_Batch": 0.39718102614084877
+}
+
+Epoch 431 Memory Usage: 3191 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 432
+{
+    "Log_Likelihood": 20.041833782196044,
+    "Loss": -20.041833782196044,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 111229.41930301633,
+    "Time_Data_Loading": 0.021335415045420327,
+    "Time_Epoch": 0.4552115281422933,
+    "Time_Log_Info": 0.010253679752349854,
+    "Time_Process_Batch": 0.022171417872111004,
+    "Time_Train_Batch": 0.3980178475379944
+}
+
+Epoch 432 Memory Usage: 3191 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 433
+{
+    "Log_Likelihood": 20.058150238037108,
+    "Loss": -20.058150238037108,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 102650.06462975626,
+    "Time_Data_Loading": 0.021680816014607748,
+    "Time_Epoch": 0.45587141116460167,
+    "Time_Log_Info": 0.01024455229441325,
+    "Time_Process_Batch": 0.022714265187581382,
+    "Time_Train_Batch": 0.3977805813153585
+}
+
+Epoch 433 Memory Usage: 3191 MB
+
+
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+Train Epoch 434
+{
+    "Log_Likelihood": 20.029649791717528,
+    "Loss": -20.029649791717528,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 98925.05241113443,
+    "Time_Data_Loading": 0.02091774543126424,
+    "Time_Epoch": 0.4543712099393209,
+    "Time_Log_Info": 0.01019959052403768,
+    "Time_Process_Batch": 0.022153711318969725,
+    "Time_Train_Batch": 0.397641917069753
+}
+
+Epoch 434 Memory Usage: 3192 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 435
+{
+    "Log_Likelihood": 20.03405322265625,
+    "Loss": -20.03405322265625,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 114318.31383993408,
+    "Time_Data_Loading": 0.021265892187754314,
+    "Time_Epoch": 0.4544918934504191,
+    "Time_Log_Info": 0.010228832562764486,
+    "Time_Process_Batch": 0.022102296352386475,
+    "Time_Train_Batch": 0.3974920829137166
+}
+
+Epoch 435 Memory Usage: 3192 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.68it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 436
+{
+    "Log_Likelihood": 20.040975799560545,
+    "Loss": -20.040975799560545,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108061.17578214024,
+    "Time_Data_Loading": 0.021032488346099852,
+    "Time_Epoch": 0.45455546379089357,
+    "Time_Log_Info": 0.010232861836751301,
+    "Time_Process_Batch": 0.02204920450846354,
+    "Time_Train_Batch": 0.39768192370732625
+}
+
+Epoch 436 Memory Usage: 3192 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.13it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 437
+{
+    "Log_Likelihood": 20.00135887145996,
+    "Loss": -20.00135887145996,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 106278.71250818571,
+    "Time_Data_Loading": 0.021753629048665363,
+    "Time_Epoch": 0.45564744075139363,
+    "Time_Log_Info": 0.010227266947428386,
+    "Time_Process_Batch": 0.022405838966369628,
+    "Time_Train_Batch": 0.39772107601165774
+}
+
+Epoch 437 Memory Usage: 3192 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.68it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 438
+{
+    "Log_Likelihood": 20.036279876708985,
+    "Loss": -20.036279876708985,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 97319.92900512248,
+    "Time_Data_Loading": 0.020825958251953124,
+    "Time_Epoch": 0.45315142869949343,
+    "Time_Log_Info": 0.010221354166666667,
+    "Time_Process_Batch": 0.02182765007019043,
+    "Time_Train_Batch": 0.3968924085299174
+}
+
+Epoch 438 Memory Usage: 3193 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 439
+{
+    "Log_Likelihood": 20.00606247329712,
+    "Loss": -20.00606247329712,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 100031.1470540577,
+    "Time_Data_Loading": 0.02083240747451782,
+    "Time_Epoch": 0.4531182249387105,
+    "Time_Log_Info": 0.010241679350535075,
+    "Time_Process_Batch": 0.021536938349405923,
+    "Time_Train_Batch": 0.39708773692448934
+}
+
+Epoch 439 Memory Usage: 3193 MB
+
+
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+Train Epoch 440
+{
+    "Log_Likelihood": 20.02772171020508,
+    "Loss": -20.02772171020508,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110449.78599081788,
+    "Time_Data_Loading": 0.021440382798512778,
+    "Time_Epoch": 0.4552987416585286,
+    "Time_Log_Info": 0.010239013036092122,
+    "Time_Process_Batch": 0.0221397598584493,
+    "Time_Train_Batch": 0.3979904929796855
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_440.pth
+
+Epoch 440 Memory Usage: 3193 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 441
+{
+    "Log_Likelihood": 20.08884506225586,
+    "Loss": -20.08884506225586,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 113134.63718016607,
+    "Time_Data_Loading": 0.020768900712331135,
+    "Time_Epoch": 0.45394665797551476,
+    "Time_Log_Info": 0.010226861635843913,
+    "Time_Process_Batch": 0.022178947925567627,
+    "Time_Train_Batch": 0.3972737669944763
+}
+
+Epoch 441 Memory Usage: 3193 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.27it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 442
+{
+    "Log_Likelihood": 20.050664081573487,
+    "Loss": -20.050664081573487,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108199.56740400482,
+    "Time_Data_Loading": 0.020958240826924643,
+    "Time_Epoch": 0.4540087699890137,
+    "Time_Log_Info": 0.010239267349243164,
+    "Time_Process_Batch": 0.022121850649515787,
+    "Time_Train_Batch": 0.39736114343007406
+}
+
+Epoch 442 Memory Usage: 3194 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 443
+{
+    "Log_Likelihood": 20.067589710235595,
+    "Loss": -20.067589710235595,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 109344.48251915102,
+    "Time_Data_Loading": 0.02076185941696167,
+    "Time_Epoch": 0.4539459188779195,
+    "Time_Log_Info": 0.010244540373484294,
+    "Time_Process_Batch": 0.022054827213287352,
+    "Time_Train_Batch": 0.3974225560824076
+}
+
+Epoch 443 Memory Usage: 3195 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 444
+{
+    "Log_Likelihood": 19.862412336349486,
+    "Loss": -19.862412336349486,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108175.01326375765,
+    "Time_Data_Loading": 0.021341749032338462,
+    "Time_Epoch": 0.454703946908315,
+    "Time_Log_Info": 0.01020801067352295,
+    "Time_Process_Batch": 0.022465789318084718,
+    "Time_Train_Batch": 0.3973152319590251
+}
+
+Epoch 444 Memory Usage: 3195 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.81it/s]
100%|##########| 500/500 [00:26<00:00, 18.52it/s]
+Train Epoch 445
+{
+    "Log_Likelihood": 19.9854453125,
+    "Loss": -19.9854453125,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110042.68632333692,
+    "Time_Data_Loading": 0.02078175942103068,
+    "Time_Epoch": 0.4528212626775106,
+    "Time_Log_Info": 0.010215997695922852,
+    "Time_Process_Batch": 0.021611511707305908,
+    "Time_Train_Batch": 0.3967756271362305
+}
+
+Epoch 445 Memory Usage: 3196 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 446
+{
+    "Log_Likelihood": 20.001107120513915,
+    "Loss": -20.001107120513915,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 115096.37995831842,
+    "Time_Data_Loading": 0.021136073271433513,
+    "Time_Epoch": 0.4546915332476298,
+    "Time_Log_Info": 0.010224572817484538,
+    "Time_Process_Batch": 0.022196726004282633,
+    "Time_Train_Batch": 0.3976589679718018
+}
+
+Epoch 446 Memory Usage: 3196 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.25it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 447
+{
+    "Log_Likelihood": 20.069074222564698,
+    "Loss": -20.069074222564698,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 107894.4505958426,
+    "Time_Data_Loading": 0.02105081876118978,
+    "Time_Epoch": 0.45391398668289185,
+    "Time_Log_Info": 0.010235293706258138,
+    "Time_Process_Batch": 0.021999680995941163,
+    "Time_Train_Batch": 0.39713967641194664
+}
+
+Epoch 447 Memory Usage: 3196 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.77it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 448
+{
+    "Log_Likelihood": 20.10206332397461,
+    "Loss": -20.10206332397461,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 109611.04597318934,
+    "Time_Data_Loading": 0.0212268590927124,
+    "Time_Epoch": 0.455123500029246,
+    "Time_Log_Info": 0.010221529006958007,
+    "Time_Process_Batch": 0.022522942225138346,
+    "Time_Train_Batch": 0.3976689100265503
+}
+
+Epoch 448 Memory Usage: 3197 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 449
+{
+    "Log_Likelihood": 20.073256271362304,
+    "Loss": -20.073256271362304,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 104986.56277092145,
+    "Time_Data_Loading": 0.021154332160949706,
+    "Time_Epoch": 0.45511482159296673,
+    "Time_Log_Info": 0.010183521111806234,
+    "Time_Process_Batch": 0.02263709306716919,
+    "Time_Train_Batch": 0.39771048227945965
+}
+
+Epoch 449 Memory Usage: 3197 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 450
+{
+    "Log_Likelihood": 20.034293739318848,
+    "Loss": -20.034293739318848,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 116778.19058871076,
+    "Time_Data_Loading": 0.020966243743896485,
+    "Time_Epoch": 0.45426114797592165,
+    "Time_Log_Info": 0.010217634836832683,
+    "Time_Process_Batch": 0.022308210531870525,
+    "Time_Train_Batch": 0.39738834301630654
+}
+
+Epoch 450 Memory Usage: 3198 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.59it/s]
100%|##########| 500/500 [00:26<00:00, 18.54it/s]
+Train Epoch 451
+{
+    "Log_Likelihood": 20.112864204406737,
+    "Loss": -20.112864204406737,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108377.23283588559,
+    "Time_Data_Loading": 0.020538051923116047,
+    "Time_Epoch": 0.4524927775065104,
+    "Time_Log_Info": 0.010229388872782389,
+    "Time_Process_Batch": 0.02169509728749593,
+    "Time_Train_Batch": 0.3965505361557007
+}
+
+Epoch 451 Memory Usage: 3197 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 452
+{
+    "Log_Likelihood": 20.023875957489015,
+    "Loss": -20.023875957489015,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 117807.49485691023,
+    "Time_Data_Loading": 0.020976706345876058,
+    "Time_Epoch": 0.45422817866007487,
+    "Time_Log_Info": 0.010232508182525635,
+    "Time_Process_Batch": 0.022160287698109946,
+    "Time_Train_Batch": 0.3972425421079
+}
+
+Epoch 452 Memory Usage: 3197 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.65it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 453
+{
+    "Log_Likelihood": 20.074058372497557,
+    "Loss": -20.074058372497557,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 106177.79653902781,
+    "Time_Data_Loading": 0.020798627535502115,
+    "Time_Epoch": 0.45332053502400715,
+    "Time_Log_Info": 0.010231538613637289,
+    "Time_Process_Batch": 0.021839876969655354,
+    "Time_Train_Batch": 0.3970473289489746
+}
+
+Epoch 453 Memory Usage: 3197 MB
+
+
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  1%|          | 3/500 [00:00<00:48, 10.22it/s]
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  3%|2         | 13/500 [00:00<00:28, 17.35it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.47it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.61it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.58it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.68it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
+Train Epoch 454
+{
+    "Log_Likelihood": 20.096724143981934,
+    "Loss": -20.096724143981934,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 109903.83601141066,
+    "Time_Data_Loading": 0.022129499912261964,
+    "Time_Epoch": 0.4558250904083252,
+    "Time_Log_Info": 0.010196371873219808,
+    "Time_Process_Batch": 0.022307848930358885,
+    "Time_Train_Batch": 0.3976214329401652
+}
+
+Epoch 454 Memory Usage: 3199 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.59it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.66it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.70it/s]
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100%|#########9| 499/500 [00:26<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 455
+{
+    "Log_Likelihood": 20.071281803131104,
+    "Loss": -20.071281803131104,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 113245.64320389039,
+    "Time_Data_Loading": 0.020583109060923258,
+    "Time_Epoch": 0.45392759243647257,
+    "Time_Log_Info": 0.010211674372355144,
+    "Time_Process_Batch": 0.021904393037160238,
+    "Time_Train_Batch": 0.3975454767545064
+}
+
+Epoch 455 Memory Usage: 3199 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 456
+{
+    "Log_Likelihood": 20.06031972885132,
+    "Loss": -20.06031972885132,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 109665.65348121322,
+    "Time_Data_Loading": 0.021065362294514976,
+    "Time_Epoch": 0.45434546868006387,
+    "Time_Log_Info": 0.010202435652414958,
+    "Time_Process_Batch": 0.022333709398905437,
+    "Time_Train_Batch": 0.39730799198150635
+}
+
+Epoch 456 Memory Usage: 3199 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 457
+{
+    "Log_Likelihood": 19.972836860656738,
+    "Loss": -19.972836860656738,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 104472.32369795168,
+    "Time_Data_Loading": 0.021897741158803306,
+    "Time_Epoch": 0.45551631450653074,
+    "Time_Log_Info": 0.010201009114583333,
+    "Time_Process_Batch": 0.022452255090077717,
+    "Time_Train_Batch": 0.39752678473790487
+}
+
+Epoch 457 Memory Usage: 3200 MB
+
+
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100%|##########| 500/500 [00:26<00:00, 18.53it/s]
+Train Epoch 458
+{
+    "Log_Likelihood": 20.088501895904542,
+    "Loss": -20.088501895904542,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 104372.59614918333,
+    "Time_Data_Loading": 0.02059487501780192,
+    "Time_Epoch": 0.4525424599647522,
+    "Time_Log_Info": 0.010264893372853598,
+    "Time_Process_Batch": 0.021472609043121337,
+    "Time_Train_Batch": 0.39685645898183186
+}
+
+Epoch 458 Memory Usage: 3199 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 459
+{
+    "Log_Likelihood": 20.057870742797853,
+    "Loss": -20.057870742797853,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 117985.61876058862,
+    "Time_Data_Loading": 0.021658945083618163,
+    "Time_Epoch": 0.4548934062321981,
+    "Time_Log_Info": 0.010191520055135092,
+    "Time_Process_Batch": 0.02236712376276652,
+    "Time_Train_Batch": 0.397227410475413
+}
+
+Epoch 459 Memory Usage: 3200 MB
+
+
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+Train Epoch 460
+{
+    "Log_Likelihood": 20.11291856765747,
+    "Loss": -20.11291856765747,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108635.84007489412,
+    "Time_Data_Loading": 0.020057459672292072,
+    "Time_Epoch": 0.4531476457913717,
+    "Time_Log_Info": 0.010252952575683594,
+    "Time_Process_Batch": 0.021698510646820067,
+    "Time_Train_Batch": 0.3976801832516988
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_460.pth
+
+Epoch 460 Memory Usage: 3200 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.77it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 461
+{
+    "Log_Likelihood": 20.109780353546142,
+    "Loss": -20.109780353546142,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 113747.65828384411,
+    "Time_Data_Loading": 0.020688128471374512,
+    "Time_Epoch": 0.4534938176472982,
+    "Time_Log_Info": 0.010230040550231934,
+    "Time_Process_Batch": 0.021920541922251385,
+    "Time_Train_Batch": 0.39723399877548216
+}
+
+Epoch 461 Memory Usage: 3200 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 462
+{
+    "Log_Likelihood": 20.127161209106447,
+    "Loss": -20.127161209106447,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 109236.53958201817,
+    "Time_Data_Loading": 0.02161905765533447,
+    "Time_Epoch": 0.4553005854288737,
+    "Time_Log_Info": 0.010232365131378174,
+    "Time_Process_Batch": 0.022259012858072916,
+    "Time_Train_Batch": 0.3976717273394267
+}
+
+Epoch 462 Memory Usage: 3200 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.58it/s]
100%|##########| 500/500 [00:26<00:00, 18.52it/s]
+Train Epoch 463
+{
+    "Log_Likelihood": 19.995049160003664,
+    "Loss": -19.995049160003664,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 101014.6242963008,
+    "Time_Data_Loading": 0.020383123556772867,
+    "Time_Epoch": 0.452820618947347,
+    "Time_Log_Info": 0.01022170384724935,
+    "Time_Process_Batch": 0.021646304925282796,
+    "Time_Train_Batch": 0.39707621733347576
+}
+
+Epoch 463 Memory Usage: 3200 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 464
+{
+    "Log_Likelihood": 20.108094928741455,
+    "Loss": -20.108094928741455,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 107664.15997620793,
+    "Time_Data_Loading": 0.02103124459584554,
+    "Time_Epoch": 0.4546020785967509,
+    "Time_Log_Info": 0.010233279069264729,
+    "Time_Process_Batch": 0.02224530776341756,
+    "Time_Train_Batch": 0.39772634506225585
+}
+
+Epoch 464 Memory Usage: 3201 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.68it/s]
100%|##########| 500/500 [00:26<00:00, 18.52it/s]
+Train Epoch 465
+{
+    "Log_Likelihood": 20.103339111328125,
+    "Loss": -20.103339111328125,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108253.56835211445,
+    "Time_Data_Loading": 0.02083036502202352,
+    "Time_Epoch": 0.45275418758392333,
+    "Time_Log_Info": 0.010242633024851481,
+    "Time_Process_Batch": 0.021796715259552003,
+    "Time_Train_Batch": 0.3964464783668518
+}
+
+Epoch 465 Memory Usage: 3201 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 466
+{
+    "Log_Likelihood": 20.097037826538084,
+    "Loss": -20.097037826538084,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 117849.5260141112,
+    "Time_Data_Loading": 0.02107723553975423,
+    "Time_Epoch": 0.45456688006718954,
+    "Time_Log_Info": 0.010220185915629069,
+    "Time_Process_Batch": 0.022086056073506673,
+    "Time_Train_Batch": 0.39755449295043943
+}
+
+Epoch 466 Memory Usage: 3201 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 467
+{
+    "Log_Likelihood": 20.14498328781128,
+    "Loss": -20.14498328781128,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 113798.52959891646,
+    "Time_Data_Loading": 0.021025745073954265,
+    "Time_Epoch": 0.453741455078125,
+    "Time_Log_Info": 0.010216772556304932,
+    "Time_Process_Batch": 0.021978501478830972,
+    "Time_Train_Batch": 0.3971564253171285
+}
+
+Epoch 467 Memory Usage: 3202 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 468
+{
+    "Log_Likelihood": 20.134956275939942,
+    "Loss": -20.134956275939942,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 101667.88184362666,
+    "Time_Data_Loading": 0.020693755149841307,
+    "Time_Epoch": 0.45358681281407676,
+    "Time_Log_Info": 0.01021262009938558,
+    "Time_Process_Batch": 0.02196768522262573,
+    "Time_Train_Batch": 0.39733729759852093
+}
+
+Epoch 468 Memory Usage: 3203 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 469
+{
+    "Log_Likelihood": 20.114088787078856,
+    "Loss": -20.114088787078856,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 121725.7303064263,
+    "Time_Data_Loading": 0.020635330677032472,
+    "Time_Epoch": 0.45330199003219607,
+    "Time_Log_Info": 0.010237681865692138,
+    "Time_Process_Batch": 0.021778416633605958,
+    "Time_Train_Batch": 0.3972469131151835
+}
+
+Epoch 469 Memory Usage: 3204 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 470
+{
+    "Log_Likelihood": 20.13215172576904,
+    "Loss": -20.13215172576904,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 103900.45768966881,
+    "Time_Data_Loading": 0.020924508571624756,
+    "Time_Epoch": 0.4535788575808207,
+    "Time_Log_Info": 0.01023116906483968,
+    "Time_Process_Batch": 0.02187743584314982,
+    "Time_Train_Batch": 0.39697739283243816
+}
+
+Epoch 470 Memory Usage: 3204 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 471
+{
+    "Log_Likelihood": 20.13441255569458,
+    "Loss": -20.13441255569458,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 109013.07714391172,
+    "Time_Data_Loading": 0.021051140626271565,
+    "Time_Epoch": 0.45349340041478475,
+    "Time_Log_Info": 0.010231586297353108,
+    "Time_Process_Batch": 0.022101171811421714,
+    "Time_Train_Batch": 0.39665785630544026
+}
+
+Epoch 471 Memory Usage: 3204 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 472
+{
+    "Log_Likelihood": 20.08173105621338,
+    "Loss": -20.08173105621338,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 117522.5155106302,
+    "Time_Data_Loading": 0.020632306734720867,
+    "Time_Epoch": 0.453549603621165,
+    "Time_Log_Info": 0.010213375091552734,
+    "Time_Process_Batch": 0.02214212417602539,
+    "Time_Train_Batch": 0.3971439520517985
+}
+
+Epoch 472 Memory Usage: 3204 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 473
+{
+    "Log_Likelihood": 20.089366737365722,
+    "Loss": -20.089366737365722,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 114016.98353004295,
+    "Time_Data_Loading": 0.021123003959655762,
+    "Time_Epoch": 0.4540330251057943,
+    "Time_Log_Info": 0.010220734278361003,
+    "Time_Process_Batch": 0.02231348752975464,
+    "Time_Train_Batch": 0.3969418207804362
+}
+
+Epoch 473 Memory Usage: 3205 MB
+
+
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 50%|#####     | 251/500 [00:13<00:13, 18.35it/s]
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 51%|#####1    | 255/500 [00:13<00:13, 18.43it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.57it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.46it/s]
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100%|#########9| 499/500 [00:26<00:00, 18.24it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 474
+{
+    "Log_Likelihood": 20.098342491149904,
+    "Loss": -20.098342491149904,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 114462.12343747838,
+    "Time_Data_Loading": 0.020562990506490072,
+    "Time_Epoch": 0.4533827384312948,
+    "Time_Log_Info": 0.010227549076080322,
+    "Time_Process_Batch": 0.02174462874730428,
+    "Time_Train_Batch": 0.39734514156977335
+}
+
+Epoch 474 Memory Usage: 3205 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 475
+{
+    "Log_Likelihood": 20.16092202758789,
+    "Loss": -20.16092202758789,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108305.85902645015,
+    "Time_Data_Loading": 0.020642018318176268,
+    "Time_Epoch": 0.4530576546986898,
+    "Time_Log_Info": 0.010225228468577067,
+    "Time_Process_Batch": 0.021656779448191325,
+    "Time_Train_Batch": 0.39707885185877484
+}
+
+Epoch 475 Memory Usage: 3206 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 476
+{
+    "Log_Likelihood": 20.174858268737793,
+    "Loss": -20.174858268737793,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 104504.10747376474,
+    "Time_Data_Loading": 0.02078134218851725,
+    "Time_Epoch": 0.45341959794362385,
+    "Time_Log_Info": 0.010229448477427164,
+    "Time_Process_Batch": 0.02185211976369222,
+    "Time_Train_Batch": 0.3971975406010946
+}
+
+Epoch 476 Memory Usage: 3206 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.68it/s]
100%|##########| 500/500 [00:26<00:00, 18.53it/s]
+Train Epoch 477
+{
+    "Log_Likelihood": 20.209011760711668,
+    "Loss": -20.209011760711668,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 113032.42437756868,
+    "Time_Data_Loading": 0.020553779602050782,
+    "Time_Epoch": 0.4527308940887451,
+    "Time_Log_Info": 0.010228927930196125,
+    "Time_Process_Batch": 0.021683359146118165,
+    "Time_Train_Batch": 0.3967932144800822
+}
+
+Epoch 477 Memory Usage: 3206 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 478
+{
+    "Log_Likelihood": 20.161372234344483,
+    "Loss": -20.161372234344483,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 117729.26003831487,
+    "Time_Data_Loading": 0.02062281370162964,
+    "Time_Epoch": 0.4530135949452718,
+    "Time_Log_Info": 0.010249594847361246,
+    "Time_Process_Batch": 0.021688560644785564,
+    "Time_Train_Batch": 0.39705331722895304
+}
+
+Epoch 478 Memory Usage: 3206 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 479
+{
+    "Log_Likelihood": 20.178043479919435,
+    "Loss": -20.178043479919435,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108303.20485760408,
+    "Time_Data_Loading": 0.020583577950795493,
+    "Time_Epoch": 0.4536518812179565,
+    "Time_Log_Info": 0.010228792826334635,
+    "Time_Process_Batch": 0.022013994057973225,
+    "Time_Train_Batch": 0.39743517637252807
+}
+
+Epoch 479 Memory Usage: 3207 MB
+
+
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+Train Epoch 480
+{
+    "Log_Likelihood": 20.153243560791015,
+    "Loss": -20.153243560791015,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 115423.26185704637,
+    "Time_Data_Loading": 0.021003544330596924,
+    "Time_Epoch": 0.45391689936319984,
+    "Time_Log_Info": 0.010217825571695963,
+    "Time_Process_Batch": 0.022237261136372883,
+    "Time_Train_Batch": 0.39700115521748863
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_480.pth
+
+Epoch 480 Memory Usage: 3207 MB
+
+
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+Train Epoch 481
+{
+    "Log_Likelihood": 20.162050636291504,
+    "Loss": -20.162050636291504,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110124.12942510968,
+    "Time_Data_Loading": 0.020549694697062176,
+    "Time_Epoch": 0.45331606864929197,
+    "Time_Log_Info": 0.010226547718048096,
+    "Time_Process_Batch": 0.021736101309458414,
+    "Time_Train_Batch": 0.3973746657371521
+}
+
+Epoch 481 Memory Usage: 3207 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 482
+{
+    "Log_Likelihood": 20.000861789703368,
+    "Loss": -20.000861789703368,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 109540.66099486453,
+    "Time_Data_Loading": 0.021245940526326498,
+    "Time_Epoch": 0.4545779228210449,
+    "Time_Log_Info": 0.010209445158640544,
+    "Time_Process_Batch": 0.02237190802892049,
+    "Time_Train_Batch": 0.39733975728352866
+}
+
+Epoch 482 Memory Usage: 3208 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 483
+{
+    "Log_Likelihood": 20.131567657470704,
+    "Loss": -20.131567657470704,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 116440.10759066933,
+    "Time_Data_Loading": 0.020705564816792806,
+    "Time_Epoch": 0.45375346740086875,
+    "Time_Log_Info": 0.010226277510325114,
+    "Time_Process_Batch": 0.02198514938354492,
+    "Time_Train_Batch": 0.3974357446034749
+}
+
+Epoch 483 Memory Usage: 3208 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 484
+{
+    "Log_Likelihood": 20.144246936798094,
+    "Loss": -20.144246936798094,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 120567.71023700605,
+    "Time_Data_Loading": 0.02042400042215983,
+    "Time_Epoch": 0.4546186129252116,
+    "Time_Log_Info": 0.01015005111694336,
+    "Time_Process_Batch": 0.021932427088419595,
+    "Time_Train_Batch": 0.3985225359598796
+}
+
+Epoch 484 Memory Usage: 3208 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 485
+{
+    "Log_Likelihood": 20.182699058532716,
+    "Loss": -20.182699058532716,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 119709.90413765673,
+    "Time_Data_Loading": 0.02137016455332438,
+    "Time_Epoch": 0.4555131793022156,
+    "Time_Log_Info": 0.010186044375101726,
+    "Time_Process_Batch": 0.022638988494873048,
+    "Time_Train_Batch": 0.3977137843767802
+}
+
+Epoch 485 Memory Usage: 3208 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 486
+{
+    "Log_Likelihood": 20.172996559143066,
+    "Loss": -20.172996559143066,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 106599.46646994173,
+    "Time_Data_Loading": 0.020938730239868163,
+    "Time_Epoch": 0.4546582380930583,
+    "Time_Log_Info": 0.010151557127634684,
+    "Time_Process_Batch": 0.022173388799031576,
+    "Time_Train_Batch": 0.3978650172551473
+}
+
+Epoch 486 Memory Usage: 3209 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.64it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 487
+{
+    "Log_Likelihood": 20.190033466339113,
+    "Loss": -20.190033466339113,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 109431.83185228353,
+    "Time_Data_Loading": 0.020723172028859458,
+    "Time_Epoch": 0.4533251682917277,
+    "Time_Log_Info": 0.010155367851257324,
+    "Time_Process_Batch": 0.021832096576690673,
+    "Time_Train_Batch": 0.3971572478612264
+}
+
+Epoch 487 Memory Usage: 3210 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 488
+{
+    "Log_Likelihood": 20.17253440475464,
+    "Loss": -20.17253440475464,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 114391.74259213015,
+    "Time_Data_Loading": 0.021094552675882974,
+    "Time_Epoch": 0.4545153061548869,
+    "Time_Log_Info": 0.010202467441558838,
+    "Time_Process_Batch": 0.022003042697906493,
+    "Time_Train_Batch": 0.39766002893447877
+}
+
+Epoch 488 Memory Usage: 3209 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 489
+{
+    "Log_Likelihood": 20.182141998291016,
+    "Loss": -20.182141998291016,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 115760.0165074447,
+    "Time_Data_Loading": 0.02111548582712809,
+    "Time_Epoch": 0.4549513300259908,
+    "Time_Log_Info": 0.010182154178619385,
+    "Time_Process_Batch": 0.022319217522939045,
+    "Time_Train_Batch": 0.3979244550069173
+}
+
+Epoch 489 Memory Usage: 3210 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
+Train Epoch 490
+{
+    "Log_Likelihood": 20.17132388305664,
+    "Loss": -20.17132388305664,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 115719.58904145738,
+    "Time_Data_Loading": 0.022174433867136637,
+    "Time_Epoch": 0.45550785064697263,
+    "Time_Log_Info": 0.01022326946258545,
+    "Time_Process_Batch": 0.022567570209503174,
+    "Time_Train_Batch": 0.39714614550272626
+}
+
+Epoch 490 Memory Usage: 3210 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.73it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 491
+{
+    "Log_Likelihood": 20.20681968688965,
+    "Loss": -20.20681968688965,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 121168.19198832127,
+    "Time_Data_Loading": 0.02086257537206014,
+    "Time_Epoch": 0.45343455076217654,
+    "Time_Log_Info": 0.010232122739156087,
+    "Time_Process_Batch": 0.022013743718465168,
+    "Time_Train_Batch": 0.3968441645304362
+}
+
+Epoch 491 Memory Usage: 3211 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 492
+{
+    "Log_Likelihood": 20.23747571182251,
+    "Loss": -20.23747571182251,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 107434.50253523755,
+    "Time_Data_Loading": 0.020801560084025065,
+    "Time_Epoch": 0.45401001373926797,
+    "Time_Log_Info": 0.01020419994990031,
+    "Time_Process_Batch": 0.022182607650756837,
+    "Time_Train_Batch": 0.3973642508188883
+}
+
+Epoch 492 Memory Usage: 3211 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 493
+{
+    "Log_Likelihood": 20.178945419311525,
+    "Loss": -20.178945419311525,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 115286.73259075034,
+    "Time_Data_Loading": 0.020744566122690836,
+    "Time_Epoch": 0.4536669135093689,
+    "Time_Log_Info": 0.0102264404296875,
+    "Time_Process_Batch": 0.02186143398284912,
+    "Time_Train_Batch": 0.3973414182662964
+}
+
+Epoch 493 Memory Usage: 3212 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 494
+{
+    "Log_Likelihood": 20.188571060180664,
+    "Loss": -20.188571060180664,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 123303.11553487125,
+    "Time_Data_Loading": 0.02053435246149699,
+    "Time_Epoch": 0.45315001010894773,
+    "Time_Log_Info": 0.01023257573445638,
+    "Time_Process_Batch": 0.021742995580037436,
+    "Time_Train_Batch": 0.3972127437591553
+}
+
+Epoch 494 Memory Usage: 3212 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 495
+{
+    "Log_Likelihood": 20.16736716079712,
+    "Loss": -20.16736716079712,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 115139.93737972509,
+    "Time_Data_Loading": 0.02091887394587199,
+    "Time_Epoch": 0.4533728917439779,
+    "Time_Log_Info": 0.010229714711507161,
+    "Time_Process_Batch": 0.021796250343322755,
+    "Time_Train_Batch": 0.39703559478123984
+}
+
+Epoch 495 Memory Usage: 3211 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.69it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 496
+{
+    "Log_Likelihood": 20.20619802093506,
+    "Loss": -20.20619802093506,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 104742.70328691645,
+    "Time_Data_Loading": 0.02072830597559611,
+    "Time_Epoch": 0.45398584206899006,
+    "Time_Log_Info": 0.010226889451344808,
+    "Time_Process_Batch": 0.022209521134694418,
+    "Time_Train_Batch": 0.3973358233769735
+}
+
+Epoch 496 Memory Usage: 3212 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 497
+{
+    "Log_Likelihood": 20.21109927368164,
+    "Loss": -20.21109927368164,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110746.0547882653,
+    "Time_Data_Loading": 0.020932825406392415,
+    "Time_Epoch": 0.4539810379346212,
+    "Time_Log_Info": 0.010215755303700764,
+    "Time_Process_Batch": 0.021964645385742186,
+    "Time_Train_Batch": 0.39736437797546387
+}
+
+Epoch 497 Memory Usage: 3213 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.39it/s]
+Train Epoch 498
+{
+    "Log_Likelihood": 20.118959609985353,
+    "Loss": -20.118959609985353,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110958.92808360138,
+    "Time_Data_Loading": 0.02130288283030192,
+    "Time_Epoch": 0.4559638539950053,
+    "Time_Log_Info": 0.010163040955861409,
+    "Time_Process_Batch": 0.022526276111602784,
+    "Time_Train_Batch": 0.39837488730748494
+}
+
+Epoch 498 Memory Usage: 3213 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 499
+{
+    "Log_Likelihood": 20.22031721496582,
+    "Loss": -20.22031721496582,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110748.16690514446,
+    "Time_Data_Loading": 0.02101317246754964,
+    "Time_Epoch": 0.45380377769470215,
+    "Time_Log_Info": 0.010249181588490804,
+    "Time_Process_Batch": 0.021845714251200358,
+    "Time_Train_Batch": 0.39716840982437135
+}
+
+Epoch 499 Memory Usage: 3213 MB
+
+
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+Train Epoch 500
+{
+    "Log_Likelihood": 20.16171114730835,
+    "Loss": -20.16171114730835,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 121088.29073165964,
+    "Time_Data_Loading": 0.021309359868367513,
+    "Time_Epoch": 0.4547359625498454,
+    "Time_Log_Info": 0.010238726933797201,
+    "Time_Process_Batch": 0.022280406951904298,
+    "Time_Train_Batch": 0.3973214109738668
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_500.pth
+
+Epoch 500 Memory Usage: 3214 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 501
+{
+    "Log_Likelihood": 20.22711103439331,
+    "Loss": -20.22711103439331,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110089.27840388534,
+    "Time_Data_Loading": 0.020653172334035238,
+    "Time_Epoch": 0.45336398283640544,
+    "Time_Log_Info": 0.010225510597229004,
+    "Time_Process_Batch": 0.022209564844767254,
+    "Time_Train_Batch": 0.3966867645581563
+}
+
+Epoch 501 Memory Usage: 3214 MB
+
+
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 50%|#####     | 251/500 [00:13<00:13, 18.40it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.35it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.42it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.47it/s]
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 99%|#########9| 495/500 [00:26<00:00, 18.59it/s]
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100%|#########9| 499/500 [00:26<00:00, 18.65it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 502
+{
+    "Log_Likelihood": 20.01983842086792,
+    "Loss": -20.01983842086792,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 117133.55764049084,
+    "Time_Data_Loading": 0.020935221513112386,
+    "Time_Epoch": 0.4537539879480998,
+    "Time_Log_Info": 0.01022489070892334,
+    "Time_Process_Batch": 0.02183654308319092,
+    "Time_Train_Batch": 0.3972940484682719
+}
+
+Epoch 502 Memory Usage: 3215 MB
+
+
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 50%|#####     | 251/500 [00:13<00:13, 18.66it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.75it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.69it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.55it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.64it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.49it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.51it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.65it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 503
+{
+    "Log_Likelihood": 20.225349773406982,
+    "Loss": -20.225349773406982,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 112893.15149457064,
+    "Time_Data_Loading": 0.020762439568837485,
+    "Time_Epoch": 0.454118025302887,
+    "Time_Log_Info": 0.010239752133687337,
+    "Time_Process_Batch": 0.022191393375396728,
+    "Time_Train_Batch": 0.3974860747655233
+}
+
+Epoch 503 Memory Usage: 3215 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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  1%|          | 3/500 [00:00<00:43, 11.48it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.59it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.65it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.70it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 504
+{
+    "Log_Likelihood": 20.216065673828126,
+    "Loss": -20.216065673828126,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 118293.88488548723,
+    "Time_Data_Loading": 0.020636709531148274,
+    "Time_Epoch": 0.45397863785425824,
+    "Time_Log_Info": 0.010199522972106934,
+    "Time_Process_Batch": 0.022031764189402264,
+    "Time_Train_Batch": 0.39760849475860593
+}
+
+Epoch 504 Memory Usage: 3215 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.51it/s]
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 98%|#########8| 491/500 [00:26<00:00, 18.59it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 505
+{
+    "Log_Likelihood": 20.17418028640747,
+    "Loss": -20.17418028640747,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 109464.44115951583,
+    "Time_Data_Loading": 0.021284039815266928,
+    "Time_Epoch": 0.454937744140625,
+    "Time_Log_Info": 0.010235134760538738,
+    "Time_Process_Batch": 0.022319539388020834,
+    "Time_Train_Batch": 0.3976343353589376
+}
+
+Epoch 505 Memory Usage: 3215 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.65it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 506
+{
+    "Log_Likelihood": 20.192250118255615,
+    "Loss": -20.192250118255615,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 127243.03406426683,
+    "Time_Data_Loading": 0.02075462738672892,
+    "Time_Epoch": 0.45375761985778806,
+    "Time_Log_Info": 0.01023482084274292,
+    "Time_Process_Batch": 0.022011013825734456,
+    "Time_Train_Batch": 0.39737070004145303
+}
+
+Epoch 506 Memory Usage: 3214 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 507
+{
+    "Log_Likelihood": 20.216418369293212,
+    "Loss": -20.216418369293212,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110738.10351269973,
+    "Time_Data_Loading": 0.020785852273305257,
+    "Time_Epoch": 0.453978701432546,
+    "Time_Log_Info": 0.010222184658050536,
+    "Time_Process_Batch": 0.022095322608947754,
+    "Time_Train_Batch": 0.39724992513656615
+}
+
+Epoch 507 Memory Usage: 3215 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 508
+{
+    "Log_Likelihood": 20.212740085601805,
+    "Loss": -20.212740085601805,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 118719.31831359651,
+    "Time_Data_Loading": 0.020544652144114176,
+    "Time_Epoch": 0.45395366350809735,
+    "Time_Log_Info": 0.010255928834279377,
+    "Time_Process_Batch": 0.02205137809117635,
+    "Time_Train_Batch": 0.39760095278422036
+}
+
+Epoch 508 Memory Usage: 3216 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 509
+{
+    "Log_Likelihood": 20.237939491271973,
+    "Loss": -20.237939491271973,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 124564.72641683348,
+    "Time_Data_Loading": 0.02115868330001831,
+    "Time_Epoch": 0.45415176153182985,
+    "Time_Log_Info": 0.010215167204538982,
+    "Time_Process_Batch": 0.02200566530227661,
+    "Time_Train_Batch": 0.39725412130355836
+}
+
+Epoch 509 Memory Usage: 3217 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 510
+{
+    "Log_Likelihood": 20.255771160125732,
+    "Loss": -20.255771160125732,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 112803.07160597533,
+    "Time_Data_Loading": 0.020719810326894125,
+    "Time_Epoch": 0.45332834323247273,
+    "Time_Log_Info": 0.01023801565170288,
+    "Time_Process_Batch": 0.021677271525065104,
+    "Time_Train_Batch": 0.39714747269948325
+}
+
+Epoch 510 Memory Usage: 3217 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.72it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 511
+{
+    "Log_Likelihood": 20.250758728027343,
+    "Loss": -20.250758728027343,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 115077.38492579431,
+    "Time_Data_Loading": 0.020792023340861002,
+    "Time_Epoch": 0.4542326807975769,
+    "Time_Log_Info": 0.010222033659617106,
+    "Time_Process_Batch": 0.022111169497172036,
+    "Time_Train_Batch": 0.3976356029510498
+}
+
+Epoch 511 Memory Usage: 3217 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.58it/s]
100%|##########| 500/500 [00:26<00:00, 18.54it/s]
+Train Epoch 512
+{
+    "Log_Likelihood": 20.274254276275634,
+    "Loss": -20.274254276275634,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 116084.68480681295,
+    "Time_Data_Loading": 0.020152870814005533,
+    "Time_Epoch": 0.45250369707743326,
+    "Time_Log_Info": 0.01023239294687907,
+    "Time_Process_Batch": 0.02135277191797892,
+    "Time_Train_Batch": 0.39718912839889525
+}
+
+Epoch 512 Memory Usage: 3217 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 513
+{
+    "Log_Likelihood": 20.2530008354187,
+    "Loss": -20.2530008354187,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 121938.63281919638,
+    "Time_Data_Loading": 0.021015087763468426,
+    "Time_Epoch": 0.4539481004079183,
+    "Time_Log_Info": 0.010206488768259685,
+    "Time_Process_Batch": 0.022057894865671793,
+    "Time_Train_Batch": 0.3972230116526286
+}
+
+Epoch 513 Memory Usage: 3218 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 514
+{
+    "Log_Likelihood": 20.22637805557251,
+    "Loss": -20.22637805557251,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 113946.64148011491,
+    "Time_Data_Loading": 0.021193524201711018,
+    "Time_Epoch": 0.4547398527463277,
+    "Time_Log_Info": 0.010242335001627604,
+    "Time_Process_Batch": 0.022198597590128582,
+    "Time_Train_Batch": 0.397531525293986
+}
+
+Epoch 514 Memory Usage: 3218 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.53it/s]
100%|##########| 500/500 [00:26<00:00, 18.52it/s]
+Train Epoch 515
+{
+    "Log_Likelihood": 20.265243938446044,
+    "Loss": -20.265243938446044,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110517.80648989942,
+    "Time_Data_Loading": 0.020232586065928142,
+    "Time_Epoch": 0.452813458442688,
+    "Time_Log_Info": 0.010252773761749268,
+    "Time_Process_Batch": 0.021591254075368247,
+    "Time_Train_Batch": 0.39726211229960123
+}
+
+Epoch 515 Memory Usage: 3219 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 516
+{
+    "Log_Likelihood": 20.25237026977539,
+    "Loss": -20.25237026977539,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 116660.02672228409,
+    "Time_Data_Loading": 0.021419278780619302,
+    "Time_Epoch": 0.45419606765111287,
+    "Time_Log_Info": 0.010235329469045004,
+    "Time_Process_Batch": 0.02201791206995646,
+    "Time_Train_Batch": 0.39708275397618614
+}
+
+Epoch 516 Memory Usage: 3219 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 517
+{
+    "Log_Likelihood": 20.10935852432251,
+    "Loss": -20.10935852432251,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 112765.83216040183,
+    "Time_Data_Loading": 0.02072269916534424,
+    "Time_Epoch": 0.4542622884114583,
+    "Time_Log_Info": 0.010219911734263102,
+    "Time_Process_Batch": 0.022145867347717285,
+    "Time_Train_Batch": 0.3976995428403219
+}
+
+Epoch 517 Memory Usage: 3220 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 518
+{
+    "Log_Likelihood": 20.237720726013183,
+    "Loss": -20.237720726013183,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 124227.27615381959,
+    "Time_Data_Loading": 0.021128904819488526,
+    "Time_Epoch": 0.45377652247746786,
+    "Time_Log_Info": 0.01021649440129598,
+    "Time_Process_Batch": 0.02182941436767578,
+    "Time_Train_Batch": 0.39709553321202595
+}
+
+Epoch 518 Memory Usage: 3220 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 519
+{
+    "Log_Likelihood": 20.25474031829834,
+    "Loss": -20.25474031829834,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 114249.88026363417,
+    "Time_Data_Loading": 0.02122840881347656,
+    "Time_Epoch": 0.45421363910039264,
+    "Time_Log_Info": 0.0102463165918986,
+    "Time_Process_Batch": 0.021887211004892985,
+    "Time_Train_Batch": 0.3972098032633464
+}
+
+Epoch 519 Memory Usage: 3220 MB
+
+
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+Train Epoch 520
+{
+    "Log_Likelihood": 20.26286612701416,
+    "Loss": -20.26286612701416,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 116747.06921214084,
+    "Time_Data_Loading": 0.02111257314682007,
+    "Time_Epoch": 0.4549366156260172,
+    "Time_Log_Info": 0.01022104024887085,
+    "Time_Process_Batch": 0.02248631715774536,
+    "Time_Train_Batch": 0.397688102722168
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_520.pth
+
+Epoch 520 Memory Usage: 3221 MB
+
+
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 15%|#5        | 77/500 [00:04<00:22, 18.64it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.64it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.62it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.69it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.74it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.71it/s]
 18%|#7        | 89/500 [00:04<00:21, 18.77it/s]
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 23%|##3       | 117/500 [00:06<00:20, 18.64it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.66it/s]
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 27%|##7       | 137/500 [00:07<00:19, 18.42it/s]
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 29%|##8       | 143/500 [00:07<00:19, 18.58it/s]
 29%|##9       | 145/500 [00:07<00:19, 18.61it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.71it/s]
 31%|###       | 153/500 [00:08<00:18, 18.66it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.67it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.61it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.45it/s]
 33%|###2      | 163/500 [00:08<00:18, 18.50it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.38it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.47it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.48it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.59it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.64it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.60it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.64it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.38it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.46it/s]
 37%|###6      | 183/500 [00:09<00:17, 18.40it/s]
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 37%|###7      | 187/500 [00:10<00:16, 18.47it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.54it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.56it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.62it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.56it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.37it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.51it/s]
 40%|####      | 201/500 [00:10<00:16, 18.58it/s]
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 42%|####1     | 209/500 [00:11<00:15, 18.28it/s]
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 43%|####2     | 213/500 [00:11<00:15, 18.27it/s]
 43%|####3     | 215/500 [00:11<00:15, 18.06it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.22it/s]
 44%|####3     | 219/500 [00:11<00:15, 18.34it/s]
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 45%|####4     | 223/500 [00:12<00:15, 18.38it/s]
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 47%|####6     | 235/500 [00:12<00:14, 18.59it/s]
 47%|####7     | 237/500 [00:12<00:14, 18.49it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.57it/s]
 48%|####8     | 241/500 [00:13<00:14, 18.44it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.48it/s]
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 49%|####9     | 247/500 [00:13<00:13, 18.52it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.50it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.45it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.49it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.56it/s]
 51%|#####1    | 257/500 [00:13<00:13, 18.65it/s]
 52%|#####1    | 259/500 [00:14<00:12, 18.64it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.49it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.50it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.53it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.55it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.51it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.50it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.58it/s]
 55%|#####5    | 275/500 [00:14<00:12, 18.60it/s]
 55%|#####5    | 277/500 [00:15<00:11, 18.63it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.68it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.60it/s]
 57%|#####6    | 283/500 [00:15<00:11, 18.59it/s]
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 58%|#####7    | 289/500 [00:15<00:11, 18.56it/s]
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 59%|#####9    | 297/500 [00:16<00:10, 18.54it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.56it/s]
 60%|######    | 301/500 [00:16<00:10, 18.59it/s]
 61%|######    | 303/500 [00:16<00:10, 18.44it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.49it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.52it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.56it/s]
 62%|######2   | 311/500 [00:16<00:10, 18.63it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.69it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.66it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.61it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.63it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.65it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.57it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.60it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.46it/s]
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 69%|######8   | 343/500 [00:18<00:08, 18.62it/s]
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 70%|######9   | 349/500 [00:18<00:08, 18.71it/s]
 70%|#######   | 351/500 [00:19<00:07, 18.68it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.71it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.77it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.71it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.71it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.63it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.50it/s]
 81%|########  | 403/500 [00:21<00:05, 18.54it/s]
 81%|########1 | 405/500 [00:21<00:05, 18.52it/s]
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 83%|########2 | 415/500 [00:22<00:04, 18.64it/s]
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 90%|########9 | 449/500 [00:24<00:02, 18.80it/s]
 90%|######### | 451/500 [00:24<00:02, 18.76it/s]
 91%|######### | 453/500 [00:24<00:02, 18.71it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.70it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.47it/s]
 92%|#########1| 459/500 [00:24<00:02, 18.60it/s]
 92%|#########2| 461/500 [00:24<00:02, 18.54it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.63it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.64it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.68it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.71it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.64it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.66it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.65it/s]
 95%|#########5| 477/500 [00:25<00:01, 18.62it/s]
 96%|#########5| 479/500 [00:25<00:01, 18.61it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.66it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.73it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.72it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.78it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.75it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.72it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.77it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.70it/s]
 99%|#########9| 497/500 [00:26<00:00, 18.68it/s]
100%|#########9| 499/500 [00:26<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 521
+{
+    "Log_Likelihood": 20.18098252105713,
+    "Loss": -20.18098252105713,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110264.66790938991,
+    "Time_Data_Loading": 0.020860505104064942,
+    "Time_Epoch": 0.453547465801239,
+    "Time_Log_Info": 0.010230751832326253,
+    "Time_Process_Batch": 0.022127159436543784,
+    "Time_Train_Batch": 0.3969019452730815
+}
+
+Epoch 521 Memory Usage: 3220 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:39,  5.03it/s]
  1%|          | 3/500 [00:00<00:46, 10.73it/s]
  1%|1         | 5/500 [00:00<00:36, 13.59it/s]
  1%|1         | 7/500 [00:00<00:32, 15.40it/s]
  2%|1         | 9/500 [00:00<00:29, 16.53it/s]
  2%|2         | 11/500 [00:00<00:28, 17.26it/s]
  3%|2         | 13/500 [00:00<00:27, 17.72it/s]
  3%|3         | 15/500 [00:00<00:27, 17.93it/s]
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  5%|4         | 23/500 [00:01<00:26, 18.33it/s]
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  5%|5         | 27/500 [00:01<00:25, 18.50it/s]
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  6%|6         | 31/500 [00:01<00:25, 18.62it/s]
  7%|6         | 33/500 [00:01<00:25, 18.60it/s]
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  8%|7         | 39/500 [00:02<00:25, 18.33it/s]
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 10%|#         | 51/500 [00:02<00:24, 18.66it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.65it/s]
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 13%|#3        | 67/500 [00:03<00:23, 18.70it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.69it/s]
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 15%|#5        | 77/500 [00:04<00:22, 18.45it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.43it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.47it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.58it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.61it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.60it/s]
 18%|#7        | 89/500 [00:04<00:22, 18.64it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.50it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.54it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.55it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.58it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.59it/s]
 21%|##        | 103/500 [00:05<00:21, 18.60it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.59it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.50it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.58it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.55it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.60it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.61it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.51it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.52it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.35it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.46it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.37it/s]
 25%|##5       | 127/500 [00:06<00:20, 18.52it/s]
 26%|##5       | 129/500 [00:07<00:20, 18.50it/s]
 26%|##6       | 131/500 [00:07<00:19, 18.58it/s]
 27%|##6       | 133/500 [00:07<00:19, 18.57it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.68it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 522
+{
+    "Log_Likelihood": 20.251638805389405,
+    "Loss": -20.251638805389405,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 118175.97270887572,
+    "Time_Data_Loading": 0.020849692821502685,
+    "Time_Epoch": 0.45384738047917683,
+    "Time_Log_Info": 0.010226710637410482,
+    "Time_Process_Batch": 0.022092580795288086,
+    "Time_Train_Batch": 0.39728821913401285
+}
+
+Epoch 522 Memory Usage: 3221 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.68it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 523
+{
+    "Log_Likelihood": 20.285947914123536,
+    "Loss": -20.285947914123536,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 119497.59789771585,
+    "Time_Data_Loading": 0.020699735482533774,
+    "Time_Epoch": 0.4542267441749573,
+    "Time_Log_Info": 0.010232325394948323,
+    "Time_Process_Batch": 0.022177255153656004,
+    "Time_Train_Batch": 0.39756601651509604
+}
+
+Epoch 523 Memory Usage: 3221 MB
+
+
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100%|##########| 500/500 [00:26<00:00, 18.52it/s]
+Train Epoch 524
+{
+    "Log_Likelihood": 20.262278305053712,
+    "Loss": -20.262278305053712,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 111301.56206360382,
+    "Time_Data_Loading": 0.02057626247406006,
+    "Time_Epoch": 0.4529277046521505,
+    "Time_Log_Info": 0.010224719842274984,
+    "Time_Process_Batch": 0.021740885575612386,
+    "Time_Train_Batch": 0.39686493078867596
+}
+
+Epoch 524 Memory Usage: 3221 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.74it/s]
100%|##########| 500/500 [00:26<00:00, 18.52it/s]
+Train Epoch 525
+{
+    "Log_Likelihood": 20.26780166244507,
+    "Loss": -20.26780166244507,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 119407.88324339747,
+    "Time_Data_Loading": 0.020587321122487387,
+    "Time_Epoch": 0.45286047061284385,
+    "Time_Log_Info": 0.010229996840159098,
+    "Time_Process_Batch": 0.021954898039499918,
+    "Time_Train_Batch": 0.3966625650723775
+}
+
+Epoch 525 Memory Usage: 3222 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 526
+{
+    "Log_Likelihood": 20.26684002304077,
+    "Loss": -20.26684002304077,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 110893.80831237393,
+    "Time_Data_Loading": 0.020370399951934813,
+    "Time_Epoch": 0.45320533514022826,
+    "Time_Log_Info": 0.010226209958394369,
+    "Time_Process_Batch": 0.021642657121022542,
+    "Time_Train_Batch": 0.39751027822494506
+}
+
+Epoch 526 Memory Usage: 3222 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.79it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 527
+{
+    "Log_Likelihood": 20.22482846069336,
+    "Loss": -20.22482846069336,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 116460.2862183634,
+    "Time_Data_Loading": 0.020810858408610026,
+    "Time_Epoch": 0.45344163179397584,
+    "Time_Log_Info": 0.010232206185658772,
+    "Time_Process_Batch": 0.02172741889953613,
+    "Time_Train_Batch": 0.39723084767659506
+}
+
+Epoch 527 Memory Usage: 3222 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 528
+{
+    "Log_Likelihood": 20.271290397644044,
+    "Loss": -20.271290397644044,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 118275.56113389843,
+    "Time_Data_Loading": 0.02148233652114868,
+    "Time_Epoch": 0.4550360401471456,
+    "Time_Log_Info": 0.010234944025675456,
+    "Time_Process_Batch": 0.022440099716186525,
+    "Time_Train_Batch": 0.39740997552871704
+}
+
+Epoch 528 Memory Usage: 3223 MB
+
+
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100%|##########| 500/500 [00:26<00:00, 18.53it/s]
+Train Epoch 529
+{
+    "Log_Likelihood": 20.268112895965576,
+    "Loss": -20.268112895965576,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 120705.66646719613,
+    "Time_Data_Loading": 0.019974589347839355,
+    "Time_Epoch": 0.45266355673472086,
+    "Time_Log_Info": 0.01023479700088501,
+    "Time_Process_Batch": 0.02156336307525635,
+    "Time_Train_Batch": 0.3974488099416097
+}
+
+Epoch 529 Memory Usage: 3223 MB
+
+
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 13%|#3        | 65/500 [00:03<00:23, 18.63it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.57it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.59it/s]
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 15%|#4        | 73/500 [00:04<00:22, 18.57it/s]
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 29%|##8       | 143/500 [00:07<00:19, 18.51it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.58it/s]
 31%|###       | 153/500 [00:08<00:18, 18.60it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.60it/s]
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 33%|###2      | 163/500 [00:08<00:17, 18.78it/s]
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 35%|###4      | 173/500 [00:09<00:17, 18.74it/s]
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 38%|###7      | 189/500 [00:10<00:16, 18.60it/s]
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 48%|####7     | 239/500 [00:13<00:14, 18.61it/s]
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 49%|####8     | 243/500 [00:13<00:13, 18.72it/s]
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 49%|####9     | 247/500 [00:13<00:13, 18.75it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.74it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.72it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.70it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.51it/s]
 51%|#####1    | 257/500 [00:13<00:13, 18.54it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.48it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.50it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.49it/s]
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 53%|#####3    | 267/500 [00:14<00:12, 18.42it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.39it/s]
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 55%|#####5    | 275/500 [00:14<00:12, 18.49it/s]
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 56%|#####5    | 279/500 [00:15<00:11, 18.57it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.55it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.61it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.69it/s]
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 62%|######2   | 311/500 [00:16<00:10, 18.67it/s]
 63%|######2   | 313/500 [00:16<00:10, 18.69it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.68it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.73it/s]
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 70%|#######   | 351/500 [00:19<00:07, 18.70it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.66it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.66it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.74it/s]
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 81%|########1 | 405/500 [00:21<00:05, 18.61it/s]
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 86%|########6 | 431/500 [00:23<00:03, 18.57it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.69it/s]
 91%|######### | 453/500 [00:24<00:02, 18.72it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.77it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.73it/s]
 92%|#########1| 459/500 [00:24<00:02, 18.68it/s]
 92%|#########2| 461/500 [00:24<00:02, 18.67it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.72it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.75it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.53it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.58it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.60it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.69it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.68it/s]
 95%|#########5| 477/500 [00:25<00:01, 18.73it/s]
 96%|#########5| 479/500 [00:25<00:01, 18.76it/s]
 96%|#########6| 481/500 [00:25<00:01, 18.70it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.60it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.56it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.64it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.59it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.68it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.65it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.55it/s]
 99%|#########9| 497/500 [00:26<00:00, 18.64it/s]
100%|#########9| 499/500 [00:26<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 530
+{
+    "Log_Likelihood": 20.287846199035645,
+    "Loss": -20.287846199035645,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 120361.81252489227,
+    "Time_Data_Loading": 0.020510788758595785,
+    "Time_Epoch": 0.45333879391352333,
+    "Time_Log_Info": 0.010219013690948487,
+    "Time_Process_Batch": 0.022003436088562013,
+    "Time_Train_Batch": 0.3970249692598979
+}
+
+Epoch 530 Memory Usage: 3223 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:31,  5.47it/s]
  1%|          | 3/500 [00:00<00:43, 11.42it/s]
  1%|1         | 5/500 [00:00<00:35, 14.00it/s]
  1%|1         | 7/500 [00:00<00:31, 15.64it/s]
  2%|1         | 9/500 [00:00<00:29, 16.62it/s]
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  3%|2         | 13/500 [00:00<00:27, 17.69it/s]
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  7%|6         | 33/500 [00:01<00:25, 18.60it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.52it/s]
 21%|##        | 103/500 [00:05<00:21, 18.53it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.54it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.59it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.46it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.55it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.51it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.58it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.53it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.64it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.64it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.54it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.55it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.41it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 531
+{
+    "Log_Likelihood": 20.281326244354247,
+    "Loss": -20.281326244354247,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 113668.72143837408,
+    "Time_Data_Loading": 0.021497464179992674,
+    "Time_Epoch": 0.45530975262324014,
+    "Time_Log_Info": 0.0102121631304423,
+    "Time_Process_Batch": 0.022531557083129882,
+    "Time_Train_Batch": 0.3976084192593892
+}
+
+Epoch 531 Memory Usage: 3224 MB
+
+
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|##########| 500/500 [00:26<00:00, 18.52it/s]
+Train Epoch 532
+{
+    "Log_Likelihood": 20.289956607818603,
+    "Loss": -20.289956607818603,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 119703.98205766224,
+    "Time_Data_Loading": 0.020570925871531167,
+    "Time_Epoch": 0.4528517564137777,
+    "Time_Log_Info": 0.010233688354492187,
+    "Time_Process_Batch": 0.02164147694905599,
+    "Time_Train_Batch": 0.3968554655710856
+}
+
+Epoch 532 Memory Usage: 3225 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.75it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 533
+{
+    "Log_Likelihood": 20.209621562957764,
+    "Loss": -20.209621562957764,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 118478.56712928464,
+    "Time_Data_Loading": 0.02075593868891398,
+    "Time_Epoch": 0.45339654286702474,
+    "Time_Log_Info": 0.010235551993052166,
+    "Time_Process_Batch": 0.021547404925028484,
+    "Time_Train_Batch": 0.39742199977238973
+}
+
+Epoch 533 Memory Usage: 3225 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 534
+{
+    "Log_Likelihood": 20.310213924407957,
+    "Loss": -20.310213924407957,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 117777.17642028823,
+    "Time_Data_Loading": 0.021427969137827556,
+    "Time_Epoch": 0.4546006917953491,
+    "Time_Log_Info": 0.010235226154327393,
+    "Time_Process_Batch": 0.022029356161753336,
+    "Time_Train_Batch": 0.39739949305852257
+}
+
+Epoch 534 Memory Usage: 3226 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.57it/s]
100%|##########| 500/500 [00:26<00:00, 18.52it/s]
+Train Epoch 535
+{
+    "Log_Likelihood": 20.2732205657959,
+    "Loss": -20.2732205657959,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 116171.96078130034,
+    "Time_Data_Loading": 0.020105516910552977,
+    "Time_Epoch": 0.4531261960665385,
+    "Time_Log_Info": 0.01018661657969157,
+    "Time_Process_Batch": 0.021716447671254475,
+    "Time_Train_Batch": 0.3974225759506226
+}
+
+Epoch 535 Memory Usage: 3226 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 536
+{
+    "Log_Likelihood": 20.295588718414308,
+    "Loss": -20.295588718414308,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 123418.49081610242,
+    "Time_Data_Loading": 0.020726521809895832,
+    "Time_Epoch": 0.45340720415115354,
+    "Time_Log_Info": 0.010232329368591309,
+    "Time_Process_Batch": 0.021933201948801676,
+    "Time_Train_Batch": 0.39706427256266275
+}
+
+Epoch 536 Memory Usage: 3226 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 537
+{
+    "Log_Likelihood": 20.195639533996584,
+    "Loss": -20.195639533996584,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 121196.75817058906,
+    "Time_Data_Loading": 0.020906297365824382,
+    "Time_Epoch": 0.45339891910552976,
+    "Time_Log_Info": 0.010222204526265462,
+    "Time_Process_Batch": 0.021979836622873943,
+    "Time_Train_Batch": 0.3967725157737732
+}
+
+Epoch 537 Memory Usage: 3227 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.45it/s]
+Train Epoch 538
+{
+    "Log_Likelihood": 20.28942345428467,
+    "Loss": -20.28942345428467,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 122232.97472471696,
+    "Time_Data_Loading": 0.021607748667399087,
+    "Time_Epoch": 0.45471343994140623,
+    "Time_Log_Info": 0.01022278070449829,
+    "Time_Process_Batch": 0.02221339543660482,
+    "Time_Train_Batch": 0.39717605113983157
+}
+
+Epoch 538 Memory Usage: 3227 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 539
+{
+    "Log_Likelihood": 20.293068702697752,
+    "Loss": -20.293068702697752,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 112612.26419322708,
+    "Time_Data_Loading": 0.020521767934163413,
+    "Time_Epoch": 0.4536448359489441,
+    "Time_Log_Info": 0.010233438014984131,
+    "Time_Process_Batch": 0.022076614697774253,
+    "Time_Train_Batch": 0.39718573093414306
+}
+
+Epoch 539 Memory Usage: 3227 MB
+
+
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+Train Epoch 540
+{
+    "Log_Likelihood": 20.32407774734497,
+    "Loss": -20.32407774734497,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 119510.12947666123,
+    "Time_Data_Loading": 0.02066819667816162,
+    "Time_Epoch": 0.4535754124323527,
+    "Time_Log_Info": 0.01023173729578654,
+    "Time_Process_Batch": 0.022115238507588706,
+    "Time_Train_Batch": 0.39706648588180543
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_540.pth
+
+Epoch 540 Memory Usage: 3227 MB
+
+
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100%|##########| 500/500 [00:26<00:00, 18.53it/s]
+Train Epoch 541
+{
+    "Log_Likelihood": 20.300608764648437,
+    "Loss": -20.300608764648437,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 121386.77367850163,
+    "Time_Data_Loading": 0.020753427346547445,
+    "Time_Epoch": 0.4527454137802124,
+    "Time_Log_Info": 0.01024325688680013,
+    "Time_Process_Batch": 0.022010151545206705,
+    "Time_Train_Batch": 0.39627283016840614
+}
+
+Epoch 541 Memory Usage: 3227 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 542
+{
+    "Log_Likelihood": 20.300900859832765,
+    "Loss": -20.300900859832765,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 129095.79201559188,
+    "Time_Data_Loading": 0.020746405919392905,
+    "Time_Epoch": 0.45370572805404663,
+    "Time_Log_Info": 0.010215659936269125,
+    "Time_Process_Batch": 0.021812005837758382,
+    "Time_Train_Batch": 0.3974580764770508
+}
+
+Epoch 542 Memory Usage: 3228 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.65it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 543
+{
+    "Log_Likelihood": 20.340802909851075,
+    "Loss": -20.340802909851075,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 121591.69565645662,
+    "Time_Data_Loading": 0.020818618933359782,
+    "Time_Epoch": 0.45364118814468385,
+    "Time_Log_Info": 0.010198450088500977,
+    "Time_Process_Batch": 0.021970053513844807,
+    "Time_Train_Batch": 0.3971873203913371
+}
+
+Epoch 543 Memory Usage: 3229 MB
+
+
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100%|##########| 500/500 [00:26<00:00, 18.53it/s]
+Train Epoch 544
+{
+    "Log_Likelihood": 20.27808650970459,
+    "Loss": -20.27808650970459,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 127209.86386768815,
+    "Time_Data_Loading": 0.020268591245015462,
+    "Time_Epoch": 0.45253180265426635,
+    "Time_Log_Info": 0.010204060872395834,
+    "Time_Process_Batch": 0.021487212181091307,
+    "Time_Train_Batch": 0.3971542517344157
+}
+
+Epoch 544 Memory Usage: 3229 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 545
+{
+    "Log_Likelihood": 20.339944694519044,
+    "Loss": -20.339944694519044,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 117224.77016849564,
+    "Time_Data_Loading": 0.02112948497136434,
+    "Time_Epoch": 0.45521916151046754,
+    "Time_Log_Info": 0.010212592283884684,
+    "Time_Process_Batch": 0.022761305173238117,
+    "Time_Train_Batch": 0.3976211150487264
+}
+
+Epoch 545 Memory Usage: 3230 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 546
+{
+    "Log_Likelihood": 20.316142375946043,
+    "Loss": -20.316142375946043,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 124128.6531774374,
+    "Time_Data_Loading": 0.020889957745869953,
+    "Time_Epoch": 0.45352590481440225,
+    "Time_Log_Info": 0.010231514771779379,
+    "Time_Process_Batch": 0.02202621301015218,
+    "Time_Train_Batch": 0.39687815109888713
+}
+
+Epoch 546 Memory Usage: 3230 MB
+
+
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100%|##########| 500/500 [00:26<00:00, 18.53it/s]
+Train Epoch 547
+{
+    "Log_Likelihood": 20.288466800689697,
+    "Loss": -20.288466800689697,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 124319.45442172274,
+    "Time_Data_Loading": 0.02080353895823161,
+    "Time_Epoch": 0.4525928219159444,
+    "Time_Log_Info": 0.010218532880147298,
+    "Time_Process_Batch": 0.022051564852396646,
+    "Time_Train_Batch": 0.39598249197006224
+}
+
+Epoch 547 Memory Usage: 3230 MB
+
+
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  2%|1         | 9/500 [00:00<00:29, 16.62it/s]
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  3%|2         | 13/500 [00:00<00:27, 17.84it/s]
  3%|3         | 15/500 [00:00<00:26, 17.99it/s]
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  4%|3         | 19/500 [00:01<00:26, 18.40it/s]
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  5%|5         | 27/500 [00:01<00:25, 18.57it/s]
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 33%|###2      | 163/500 [00:08<00:18, 18.51it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.63it/s]
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 51%|#####1    | 255/500 [00:13<00:13, 18.62it/s]
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 91%|######### | 453/500 [00:24<00:02, 18.39it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.47it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.48it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.42it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.39it/s]
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 99%|#########9| 495/500 [00:26<00:00, 18.41it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 548
+{
+    "Log_Likelihood": 20.30212264251709,
+    "Loss": -20.30212264251709,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 132297.13012448256,
+    "Time_Data_Loading": 0.021292495727539062,
+    "Time_Epoch": 0.4544244130452474,
+    "Time_Log_Info": 0.010237308343251546,
+    "Time_Process_Batch": 0.022062822182973226,
+    "Time_Train_Batch": 0.39715054432551067
+}
+
+Epoch 548 Memory Usage: 3230 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.71it/s]
100%|##########| 500/500 [00:26<00:00, 18.54it/s]
+Train Epoch 549
+{
+    "Log_Likelihood": 19.866792922973634,
+    "Loss": -19.866792922973634,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 108776.32010586435,
+    "Time_Data_Loading": 0.019914344946543375,
+    "Time_Epoch": 0.4524439096450806,
+    "Time_Log_Info": 0.010255853335062662,
+    "Time_Process_Batch": 0.021502761046091716,
+    "Time_Train_Batch": 0.39734933376312254
+}
+
+Epoch 549 Memory Usage: 3231 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 550
+{
+    "Log_Likelihood": 20.163451431274414,
+    "Loss": -20.163451431274414,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 122738.86919868982,
+    "Time_Data_Loading": 0.02111888329188029,
+    "Time_Epoch": 0.4541187087694804,
+    "Time_Log_Info": 0.010235408941904703,
+    "Time_Process_Batch": 0.022130664189656576,
+    "Time_Train_Batch": 0.3970748702685038
+}
+
+Epoch 550 Memory Usage: 3231 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.40it/s]
100%|##########| 500/500 [00:26<00:00, 18.54it/s]
+Train Epoch 551
+{
+    "Log_Likelihood": 20.33108848953247,
+    "Loss": -20.33108848953247,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 115252.06938569668,
+    "Time_Data_Loading": 0.020087583859761556,
+    "Time_Epoch": 0.4523377855618795,
+    "Time_Log_Info": 0.010210235913594564,
+    "Time_Process_Batch": 0.021677092711130778,
+    "Time_Train_Batch": 0.3968473792076111
+}
+
+Epoch 551 Memory Usage: 3231 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.79it/s]
100%|##########| 500/500 [00:26<00:00, 18.52it/s]
+Train Epoch 552
+{
+    "Log_Likelihood": 20.310966739654543,
+    "Loss": -20.310966739654543,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 127051.41000044673,
+    "Time_Data_Loading": 0.020220263799031576,
+    "Time_Epoch": 0.45291337569554646,
+    "Time_Log_Info": 0.010224521160125732,
+    "Time_Process_Batch": 0.02159693241119385,
+    "Time_Train_Batch": 0.3973759690920512
+}
+
+Epoch 552 Memory Usage: 3231 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 553
+{
+    "Log_Likelihood": 20.31568824005127,
+    "Loss": -20.31568824005127,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 122235.21096042162,
+    "Time_Data_Loading": 0.02079549233118693,
+    "Time_Epoch": 0.4535804073015849,
+    "Time_Log_Info": 0.01021262804667155,
+    "Time_Process_Batch": 0.0220413605372111,
+    "Time_Train_Batch": 0.39704225460688275
+}
+
+Epoch 553 Memory Usage: 3231 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.52it/s]
+Train Epoch 554
+{
+    "Log_Likelihood": 20.379499591827393,
+    "Loss": -20.379499591827393,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 118061.87555312934,
+    "Time_Data_Loading": 0.02049340804417928,
+    "Time_Epoch": 0.4529822866121928,
+    "Time_Log_Info": 0.010217738151550294,
+    "Time_Process_Batch": 0.021925548712412517,
+    "Time_Train_Batch": 0.396894641717275
+}
+
+Epoch 554 Memory Usage: 3231 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.26it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 555
+{
+    "Log_Likelihood": 20.376002040863035,
+    "Loss": -20.376002040863035,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 123809.94880858288,
+    "Time_Data_Loading": 0.020804075400034587,
+    "Time_Epoch": 0.4536863605181376,
+    "Time_Log_Info": 0.01023482879002889,
+    "Time_Process_Batch": 0.021950026353200276,
+    "Time_Train_Batch": 0.39722313086191813
+}
+
+Epoch 555 Memory Usage: 3232 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 556
+{
+    "Log_Likelihood": 20.33579789352417,
+    "Loss": -20.33579789352417,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 123339.91883618446,
+    "Time_Data_Loading": 0.021111583709716795,
+    "Time_Epoch": 0.4544261614481608,
+    "Time_Log_Info": 0.010244747002919516,
+    "Time_Process_Batch": 0.022336026032765705,
+    "Time_Train_Batch": 0.39725821018218993
+}
+
+Epoch 556 Memory Usage: 3234 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 557
+{
+    "Log_Likelihood": 20.305249450683593,
+    "Loss": -20.305249450683593,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 126651.74891633484,
+    "Time_Data_Loading": 0.02054992119471232,
+    "Time_Epoch": 0.4531800866127014,
+    "Time_Log_Info": 0.010253830750783285,
+    "Time_Process_Batch": 0.022066740194956462,
+    "Time_Train_Batch": 0.39683138926823935
+}
+
+Epoch 557 Memory Usage: 3234 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 558
+{
+    "Log_Likelihood": 20.264743946075438,
+    "Loss": -20.264743946075438,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 122861.4747321606,
+    "Time_Data_Loading": 0.020767386754353842,
+    "Time_Epoch": 0.4533193548520406,
+    "Time_Log_Info": 0.010223821798960368,
+    "Time_Process_Batch": 0.021810901165008546,
+    "Time_Train_Batch": 0.3971552848815918
+}
+
+Epoch 558 Memory Usage: 3234 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 559
+{
+    "Log_Likelihood": 20.354762393951415,
+    "Loss": -20.354762393951415,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 119997.11763950094,
+    "Time_Data_Loading": 0.021283511320749918,
+    "Time_Epoch": 0.45513068437576293,
+    "Time_Log_Info": 0.01022730271021525,
+    "Time_Process_Batch": 0.022578807671864827,
+    "Time_Train_Batch": 0.3975594639778137
+}
+
+Epoch 559 Memory Usage: 3236 MB
+
+
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+Train Epoch 560
+{
+    "Log_Likelihood": 20.325454277038574,
+    "Loss": -20.325454277038574,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 116551.63153706786,
+    "Time_Data_Loading": 0.020724864800771077,
+    "Time_Epoch": 0.4540267109870911,
+    "Time_Log_Info": 0.010220527648925781,
+    "Time_Process_Batch": 0.021912554899851482,
+    "Time_Train_Batch": 0.3976692795753479
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_560.pth
+
+Epoch 560 Memory Usage: 3236 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.70it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 561
+{
+    "Log_Likelihood": 20.286699184417724,
+    "Loss": -20.286699184417724,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 129586.59429957732,
+    "Time_Data_Loading": 0.020371659596761068,
+    "Time_Epoch": 0.45365089178085327,
+    "Time_Log_Info": 0.010211789608001709,
+    "Time_Process_Batch": 0.021999692916870116,
+    "Time_Train_Batch": 0.39763902028401693
+}
+
+Epoch 561 Memory Usage: 3236 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.52it/s]
+Train Epoch 562
+{
+    "Log_Likelihood": 20.361898849487304,
+    "Loss": -20.361898849487304,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 136054.46453378347,
+    "Time_Data_Loading": 0.020572590827941894,
+    "Time_Epoch": 0.4531323234240214,
+    "Time_Log_Info": 0.010252602895100911,
+    "Time_Process_Batch": 0.021773457527160645,
+    "Time_Train_Batch": 0.39689982732137047
+}
+
+Epoch 562 Memory Usage: 3236 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.17it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 563
+{
+    "Log_Likelihood": 20.350905540466307,
+    "Loss": -20.350905540466307,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 118380.30459312501,
+    "Time_Data_Loading": 0.020566725730895997,
+    "Time_Epoch": 0.45342541138331094,
+    "Time_Log_Info": 0.010242609182993571,
+    "Time_Process_Batch": 0.02177472909291585,
+    "Time_Train_Batch": 0.3973127802213033
+}
+
+Epoch 563 Memory Usage: 3238 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 564
+{
+    "Log_Likelihood": 20.323804470062257,
+    "Loss": -20.323804470062257,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 117716.51769702694,
+    "Time_Data_Loading": 0.02062875429789225,
+    "Time_Epoch": 0.453922168413798,
+    "Time_Log_Info": 0.010230807463328044,
+    "Time_Process_Batch": 0.022125597794850668,
+    "Time_Train_Batch": 0.3971515933672587
+}
+
+Epoch 564 Memory Usage: 3237 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.64it/s]
100%|##########| 500/500 [00:26<00:00, 18.54it/s]
+Train Epoch 565
+{
+    "Log_Likelihood": 20.354193019866944,
+    "Loss": -20.354193019866944,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 119230.26872107002,
+    "Time_Data_Loading": 0.020058242479960124,
+    "Time_Epoch": 0.4524649143218994,
+    "Time_Log_Info": 0.010265135765075683,
+    "Time_Process_Batch": 0.021651347478230793,
+    "Time_Train_Batch": 0.39707656304041544
+}
+
+Epoch 565 Memory Usage: 3238 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 566
+{
+    "Log_Likelihood": 20.374007610321044,
+    "Loss": -20.374007610321044,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 117257.72854473129,
+    "Time_Data_Loading": 0.021582440535227457,
+    "Time_Epoch": 0.4553274909655253,
+    "Time_Log_Info": 0.01023259957631429,
+    "Time_Process_Batch": 0.02238111893335978,
+    "Time_Train_Batch": 0.3976446072260539
+}
+
+Epoch 566 Memory Usage: 3238 MB
+
+
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 97%|#########7| 487/500 [00:26<00:00, 18.54it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.58it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.56it/s]
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100%|#########9| 499/500 [00:26<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 567
+{
+    "Log_Likelihood": 20.36735990905762,
+    "Loss": -20.36735990905762,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 125894.77612204663,
+    "Time_Data_Loading": 0.020610102017720542,
+    "Time_Epoch": 0.45370991627375284,
+    "Time_Log_Info": 0.01021949052810669,
+    "Time_Process_Batch": 0.02191214164098104,
+    "Time_Train_Batch": 0.39749887386957805
+}
+
+Epoch 567 Memory Usage: 3238 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.42it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 568
+{
+    "Log_Likelihood": 20.340155975341798,
+    "Loss": -20.340155975341798,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 119416.46378367132,
+    "Time_Data_Loading": 0.02100695768992106,
+    "Time_Epoch": 0.45338990290959674,
+    "Time_Log_Info": 0.010246785481770833,
+    "Time_Process_Batch": 0.02217830022176107,
+    "Time_Train_Batch": 0.39647796551386516
+}
+
+Epoch 568 Memory Usage: 3239 MB
+
+
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100%|##########| 500/500 [00:26<00:00, 18.54it/s]
+Train Epoch 569
+{
+    "Log_Likelihood": 20.385405632019044,
+    "Loss": -20.385405632019044,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 126196.8891763097,
+    "Time_Data_Loading": 0.019821961720784504,
+    "Time_Epoch": 0.45250604550043744,
+    "Time_Log_Info": 0.010241862138112385,
+    "Time_Process_Batch": 0.021426832675933837,
+    "Time_Train_Batch": 0.39743316968282066
+}
+
+Epoch 569 Memory Usage: 3239 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 570
+{
+    "Log_Likelihood": 20.354277015686034,
+    "Loss": -20.354277015686034,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 124894.18171954926,
+    "Time_Data_Loading": 0.020899442831675212,
+    "Time_Epoch": 0.45409228801727297,
+    "Time_Log_Info": 0.010229575634002685,
+    "Time_Process_Batch": 0.022265068689982095,
+    "Time_Train_Batch": 0.3972212831179301
+}
+
+Epoch 570 Memory Usage: 3239 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 571
+{
+    "Log_Likelihood": 20.379666522979736,
+    "Loss": -20.379666522979736,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 119430.19266754923,
+    "Time_Data_Loading": 0.020387216409047445,
+    "Time_Epoch": 0.45359434684117633,
+    "Time_Log_Info": 0.010234153270721436,
+    "Time_Process_Batch": 0.02176846663157145,
+    "Time_Train_Batch": 0.39767544666926063
+}
+
+Epoch 571 Memory Usage: 3240 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 572
+{
+    "Log_Likelihood": 20.356303531646727,
+    "Loss": -20.356303531646727,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 126285.13745532492,
+    "Time_Data_Loading": 0.021062143643697104,
+    "Time_Epoch": 0.4535018881162008,
+    "Time_Log_Info": 0.010205213228861492,
+    "Time_Process_Batch": 0.02199544906616211,
+    "Time_Train_Batch": 0.3968384027481079
+}
+
+Epoch 572 Memory Usage: 3240 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.73it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 573
+{
+    "Log_Likelihood": 20.37415544128418,
+    "Loss": -20.37415544128418,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 120460.04979625958,
+    "Time_Data_Loading": 0.020504975318908693,
+    "Time_Epoch": 0.4538790464401245,
+    "Time_Log_Info": 0.010245974858601887,
+    "Time_Process_Batch": 0.021970808506011963,
+    "Time_Train_Batch": 0.39764890670776365
+}
+
+Epoch 573 Memory Usage: 3240 MB
+
+
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100%|##########| 500/500 [00:26<00:00, 18.53it/s]
+Train Epoch 574
+{
+    "Log_Likelihood": 20.37233261871338,
+    "Loss": -20.37233261871338,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 123780.59902859655,
+    "Time_Data_Loading": 0.020128858089447022,
+    "Time_Epoch": 0.4525946338971456,
+    "Time_Log_Info": 0.010241218407948812,
+    "Time_Process_Batch": 0.021293763319651285,
+    "Time_Train_Batch": 0.3974571466445923
+}
+
+Epoch 574 Memory Usage: 3241 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.46it/s]
+Train Epoch 575
+{
+    "Log_Likelihood": 20.404346698760985,
+    "Loss": -20.404346698760985,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 123740.86698768994,
+    "Time_Data_Loading": 0.02135124206542969,
+    "Time_Epoch": 0.45448398192723594,
+    "Time_Log_Info": 0.010223889350891113,
+    "Time_Process_Batch": 0.021906312306722006,
+    "Time_Train_Batch": 0.3974382519721985
+}
+
+Epoch 575 Memory Usage: 3241 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 576
+{
+    "Log_Likelihood": 20.384752063751222,
+    "Loss": -20.384752063751222,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 134783.51700523603,
+    "Time_Data_Loading": 0.020871222019195557,
+    "Time_Epoch": 0.4535237113634745,
+    "Time_Log_Info": 0.010250898202260335,
+    "Time_Process_Batch": 0.02209494113922119,
+    "Time_Train_Batch": 0.39681866963704426
+}
+
+Epoch 576 Memory Usage: 3242 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.33it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 577
+{
+    "Log_Likelihood": 20.404178997039796,
+    "Loss": -20.404178997039796,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 115958.62252140716,
+    "Time_Data_Loading": 0.020947619279225668,
+    "Time_Epoch": 0.45387068192164104,
+    "Time_Log_Info": 0.010230795542399088,
+    "Time_Process_Batch": 0.02204010486602783,
+    "Time_Train_Batch": 0.3972084879875183
+}
+
+Epoch 577 Memory Usage: 3242 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.24it/s]
100%|##########| 500/500 [00:27<00:00, 18.47it/s]
+Train Epoch 578
+{
+    "Log_Likelihood": 20.39887816619873,
+    "Loss": -20.39887816619873,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 125542.47154796578,
+    "Time_Data_Loading": 0.02095792293548584,
+    "Time_Epoch": 0.45420202016830447,
+    "Time_Log_Info": 0.010221775372823079,
+    "Time_Process_Batch": 0.02209270397822062,
+    "Time_Train_Batch": 0.39736663500467934
+}
+
+Epoch 578 Memory Usage: 3243 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 579
+{
+    "Log_Likelihood": 20.36985782241821,
+    "Loss": -20.36985782241821,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 122314.81864401406,
+    "Time_Data_Loading": 0.020822004477183024,
+    "Time_Epoch": 0.45315617322921753,
+    "Time_Log_Info": 0.010208078225453695,
+    "Time_Process_Batch": 0.02193767229715983,
+    "Time_Train_Batch": 0.3966542442639669
+}
+
+Epoch 579 Memory Usage: 3243 MB
+
+
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+Train Epoch 580
+{
+    "Log_Likelihood": 20.322617084503175,
+    "Loss": -20.322617084503175,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 122210.40991887609,
+    "Time_Data_Loading": 0.020863552888234455,
+    "Time_Epoch": 0.4551671584447225,
+    "Time_Log_Info": 0.010186747709910075,
+    "Time_Process_Batch": 0.02266169786453247,
+    "Time_Train_Batch": 0.3979145288467407
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_580.pth
+
+Epoch 580 Memory Usage: 3243 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.50it/s]
+Train Epoch 581
+{
+    "Log_Likelihood": 20.370723011016846,
+    "Loss": -20.370723011016846,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 129161.87193963125,
+    "Time_Data_Loading": 0.020691927274068198,
+    "Time_Epoch": 0.4534680247306824,
+    "Time_Log_Info": 0.01023176908493042,
+    "Time_Process_Batch": 0.02202136516571045,
+    "Time_Train_Batch": 0.39705897569656373
+}
+
+Epoch 581 Memory Usage: 3244 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 582
+{
+    "Log_Likelihood": 20.36988836288452,
+    "Loss": -20.36988836288452,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 128274.04579021719,
+    "Time_Data_Loading": 0.0209709366162618,
+    "Time_Epoch": 0.4536726395289103,
+    "Time_Log_Info": 0.010234256585439047,
+    "Time_Process_Batch": 0.021860829989115396,
+    "Time_Train_Batch": 0.3971316377321879
+}
+
+Epoch 582 Memory Usage: 3244 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.32it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 583
+{
+    "Log_Likelihood": 20.34455104446411,
+    "Loss": -20.34455104446411,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 130849.87858306366,
+    "Time_Data_Loading": 0.02063655455907186,
+    "Time_Epoch": 0.4531349023183187,
+    "Time_Log_Info": 0.010205809275309246,
+    "Time_Process_Batch": 0.02161428928375244,
+    "Time_Train_Batch": 0.397195041179657
+}
+
+Epoch 583 Memory Usage: 3244 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.64it/s]
100%|##########| 500/500 [00:26<00:00, 18.55it/s]
+Train Epoch 584
+{
+    "Log_Likelihood": 20.239585803985594,
+    "Loss": -20.239585803985594,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 116731.31653376619,
+    "Time_Data_Loading": 0.019917607307434082,
+    "Time_Epoch": 0.4521017909049988,
+    "Time_Log_Info": 0.010230847199757894,
+    "Time_Process_Batch": 0.021483226617177328,
+    "Time_Train_Batch": 0.3970528801282247
+}
+
+Epoch 584 Memory Usage: 3245 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
+Train Epoch 585
+{
+    "Log_Likelihood": 20.362185165405272,
+    "Loss": -20.362185165405272,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 123743.95222230954,
+    "Time_Data_Loading": 0.021596344312032063,
+    "Time_Epoch": 0.45533844232559206,
+    "Time_Log_Info": 0.0102247953414917,
+    "Time_Process_Batch": 0.022637462615966795,
+    "Time_Train_Batch": 0.3974135994911194
+}
+
+Epoch 585 Memory Usage: 3245 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 586
+{
+    "Log_Likelihood": 20.42549705505371,
+    "Loss": -20.42549705505371,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 115659.32603212252,
+    "Time_Data_Loading": 0.02124410072962443,
+    "Time_Epoch": 0.4539200703303019,
+    "Time_Log_Info": 0.010234105587005615,
+    "Time_Process_Batch": 0.022064475218454997,
+    "Time_Train_Batch": 0.3968792994817098
+}
+
+Epoch 586 Memory Usage: 3245 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 587
+{
+    "Log_Likelihood": 20.45761449432373,
+    "Loss": -20.45761449432373,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 122477.32912642896,
+    "Time_Data_Loading": 0.02063993215560913,
+    "Time_Epoch": 0.45335352420806885,
+    "Time_Log_Info": 0.010223031044006348,
+    "Time_Process_Batch": 0.02185024817784627,
+    "Time_Train_Batch": 0.3970380703608195
+}
+
+Epoch 587 Memory Usage: 3246 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 588
+{
+    "Log_Likelihood": 20.405269805908205,
+    "Loss": -20.405269805908205,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 134288.96479212015,
+    "Time_Data_Loading": 0.021148141225179037,
+    "Time_Epoch": 0.45488585233688356,
+    "Time_Log_Info": 0.010211741924285889,
+    "Time_Process_Batch": 0.022385974725087483,
+    "Time_Train_Batch": 0.3977467974026998
+}
+
+Epoch 588 Memory Usage: 3247 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 589
+{
+    "Log_Likelihood": 20.437718364715575,
+    "Loss": -20.437718364715575,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 125099.08631852793,
+    "Time_Data_Loading": 0.020494520664215088,
+    "Time_Epoch": 0.45322585105895996,
+    "Time_Log_Info": 0.010242573420206706,
+    "Time_Process_Batch": 0.02188789447148641,
+    "Time_Train_Batch": 0.3971119602521261
+}
+
+Epoch 589 Memory Usage: 3247 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 590
+{
+    "Log_Likelihood": 20.399743476867677,
+    "Loss": -20.399743476867677,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 129903.30753614027,
+    "Time_Data_Loading": 0.020451716581980386,
+    "Time_Epoch": 0.45356977780659996,
+    "Time_Log_Info": 0.010252010822296143,
+    "Time_Process_Batch": 0.02183295488357544,
+    "Time_Train_Batch": 0.39750006993611653
+}
+
+Epoch 590 Memory Usage: 3247 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 591
+{
+    "Log_Likelihood": 20.434379261016847,
+    "Loss": -20.434379261016847,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 124769.12806432103,
+    "Time_Data_Loading": 0.021012373765309653,
+    "Time_Epoch": 0.4536578138669332,
+    "Time_Log_Info": 0.010249090194702149,
+    "Time_Process_Batch": 0.0219871719678243,
+    "Time_Train_Batch": 0.3968741774559021
+}
+
+Epoch 591 Memory Usage: 3248 MB
+
+
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100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 592
+{
+    "Log_Likelihood": 20.39561414337158,
+    "Loss": -20.39561414337158,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 127711.12341348248,
+    "Time_Data_Loading": 0.02065687576929728,
+    "Time_Epoch": 0.4538225491841634,
+    "Time_Log_Info": 0.01023955742518107,
+    "Time_Process_Batch": 0.021919095516204835,
+    "Time_Train_Batch": 0.3975031852722168
+}
+
+Epoch 592 Memory Usage: 3248 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.64it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 593
+{
+    "Log_Likelihood": 20.42146653366089,
+    "Loss": -20.42146653366089,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 119254.14407280255,
+    "Time_Data_Loading": 0.02037810484568278,
+    "Time_Epoch": 0.45321206251780194,
+    "Time_Log_Info": 0.010236271222432454,
+    "Time_Process_Batch": 0.021857150395711265,
+    "Time_Train_Batch": 0.3972209413846334
+}
+
+Epoch 593 Memory Usage: 3249 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.51it/s]
+Train Epoch 594
+{
+    "Log_Likelihood": 20.445934169769288,
+    "Loss": -20.445934169769288,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 131079.56832339137,
+    "Time_Data_Loading": 0.020701571305592855,
+    "Time_Epoch": 0.4533187548319499,
+    "Time_Log_Info": 0.010253294308980306,
+    "Time_Process_Batch": 0.02205257018407186,
+    "Time_Train_Batch": 0.3967245062192281
+}
+
+Epoch 594 Memory Usage: 3249 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.49it/s]
+Train Epoch 595
+{
+    "Log_Likelihood": 20.37773636627197,
+    "Loss": -20.37773636627197,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 128435.79128276515,
+    "Time_Data_Loading": 0.020596655209859212,
+    "Time_Epoch": 0.45369035402933755,
+    "Time_Log_Info": 0.010217360655466716,
+    "Time_Process_Batch": 0.021783022085825603,
+    "Time_Train_Batch": 0.3976003368695577
+}
+
+Epoch 595 Memory Usage: 3249 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
+Train Epoch 596
+{
+    "Log_Likelihood": 20.421969451904296,
+    "Loss": -20.421969451904296,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 132533.12947681153,
+    "Time_Data_Loading": 0.02126007080078125,
+    "Time_Epoch": 0.4550896128018697,
+    "Time_Log_Info": 0.010216895739237468,
+    "Time_Process_Batch": 0.022041475772857665,
+    "Time_Train_Batch": 0.39810962677001954
+}
+
+Epoch 596 Memory Usage: 3250 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 597
+{
+    "Log_Likelihood": 20.447462928771973,
+    "Loss": -20.447462928771973,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 120201.05719524618,
+    "Time_Data_Loading": 0.021326963106791177,
+    "Time_Epoch": 0.45486515363057456,
+    "Time_Log_Info": 0.010249118010203043,
+    "Time_Process_Batch": 0.02223282257715861,
+    "Time_Train_Batch": 0.39747602542241417
+}
+
+Epoch 597 Memory Usage: 3250 MB
+
+
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100%|#########9| 499/500 [00:27<00:00, 18.70it/s]
100%|##########| 500/500 [00:27<00:00, 18.44it/s]
+Train Epoch 598
+{
+    "Log_Likelihood": 20.411049781799317,
+    "Loss": -20.411049781799317,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 126552.12774235872,
+    "Time_Data_Loading": 0.02137153148651123,
+    "Time_Epoch": 0.4550039609273275,
+    "Time_Log_Info": 0.010220142205556233,
+    "Time_Process_Batch": 0.022403021653493244,
+    "Time_Train_Batch": 0.39746719201405845
+}
+
+Epoch 598 Memory Usage: 3250 MB
+
+
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100%|#########9| 499/500 [00:26<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.48it/s]
+Train Epoch 599
+{
+    "Log_Likelihood": 20.423264545440674,
+    "Loss": -20.423264545440674,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 135896.59017291915,
+    "Time_Data_Loading": 0.02109948794047038,
+    "Time_Epoch": 0.453742782274882,
+    "Time_Log_Info": 0.010235234101613363,
+    "Time_Process_Batch": 0.022013135751088462,
+    "Time_Train_Batch": 0.3969545801480611
+}
+
+Epoch 599 Memory Usage: 3251 MB
+
+
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+Train Epoch 600
+{
+    "Log_Likelihood": 20.462850002288818,
+    "Loss": -20.462850002288818,
+    "Optimizer/policy0_lr": 0.00010000000000000003,
+    "Policy_Grad_Norms": 123786.54578971941,
+    "Time_Data_Loading": 0.02025558551152547,
+    "Time_Epoch": 0.4530706445376078,
+    "Time_Log_Info": 0.010227306683858236,
+    "Time_Process_Batch": 0.02186382611592611,
+    "Time_Train_Batch": 0.397226083278656
+}
+save checkpoint to /home/shauryad/workspaces/isaaclab_visuomotor/IsaacLab-Internal/logs/robomimic/Isaac-Stack-Cube-Franka-IK-Rel-Visuomotor-v0/bc_rnn_image_franka_stack_res_200_mimic_1k_table_only/20250416141542/models/model_epoch_600.pth
+
+Epoch 600 Memory Usage: 3251 MB
+
+finished run successfully!