diff --git "a/franka_stack_mimic_2k_table_only/20250420141711/logs/log.txt" "b/franka_stack_mimic_2k_table_only/20250420141711/logs/log.txt"
deleted file mode 100644--- "a/franka_stack_mimic_2k_table_only/20250420141711/logs/log.txt"
+++ /dev/null
@@ -1,9748 +0,0 @@
-
-============= Initialized Observation Utils with Obs Spec =============
-
-using obs modality: low_dim with keys: ['eef_pos', 'eef_quat', 'gripper_pos']
-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/cosmos_mimic_res_200_2k_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=3000
-	num_sequences=731751
-)
-
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100%|#########9| 499/500 [00:27<00:00, 18.77it/s]
100%|##########| 500/500 [00:27<00:00, 18.29it/s]
-Train Epoch 1
-{
-    "Log_Likelihood": 4.826058305710554,
-    "Loss": -4.826058305710554,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 67669.51512930106,
-    "Time_Data_Loading": 0.019737831751505532,
-    "Time_Epoch": 0.4574974536895752,
-    "Time_Log_Info": 0.010298633575439453,
-    "Time_Process_Batch": 0.021039958794911703,
-    "Time_Train_Batch": 0.40399725834528605
-}
-
-Epoch 1 Memory Usage: 3086 MB
-
-
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 96%|#########5| 479/500 [00:25<00:01, 18.77it/s]
 96%|#########6| 481/500 [00:25<00:01, 18.75it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.73it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.68it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.89it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.75it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.80it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.70it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.76it/s]
 99%|#########9| 497/500 [00:26<00:00, 18.83it/s]
100%|#########9| 499/500 [00:26<00:00, 18.75it/s]
100%|##########| 500/500 [00:26<00:00, 18.57it/s]
-Train Epoch 2
-{
-    "Log_Likelihood": 13.465095125198363,
-    "Loss": -13.465095125198363,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 64453.99593907623,
-    "Time_Data_Loading": 0.021600051720937093,
-    "Time_Epoch": 0.45094260374705,
-    "Time_Log_Info": 0.010352949301401774,
-    "Time_Process_Batch": 0.02166057825088501,
-    "Time_Train_Batch": 0.3946376999219259
-}
-
-Epoch 2 Memory Usage: 3095 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:11,  3.78it/s]
  1%|          | 3/500 [00:00<00:53,  9.25it/s]
  1%|1         | 5/500 [00:00<00:39, 12.47it/s]
  1%|1         | 7/500 [00:00<00:33, 14.66it/s]
  2%|1         | 9/500 [00:00<00:30, 15.88it/s]
  2%|2         | 11/500 [00:00<00:28, 16.94it/s]
  3%|2         | 13/500 [00:00<00:27, 17.40it/s]
  3%|3         | 15/500 [00:01<00:27, 17.88it/s]
  3%|3         | 17/500 [00:01<00:26, 18.14it/s]
  4%|3         | 19/500 [00:01<00:26, 18.11it/s]
  4%|4         | 21/500 [00:01<00:26, 18.34it/s]
  5%|4         | 23/500 [00:01<00:25, 18.36it/s]
  5%|5         | 25/500 [00:01<00:25, 18.55it/s]
  5%|5         | 27/500 [00:01<00:25, 18.64it/s]
  6%|5         | 29/500 [00:01<00:25, 18.75it/s]
  6%|6         | 31/500 [00:01<00:25, 18.58it/s]
  7%|6         | 33/500 [00:01<00:24, 18.76it/s]
  7%|7         | 35/500 [00:02<00:24, 18.77it/s]
  7%|7         | 37/500 [00:02<00:24, 18.85it/s]
  8%|7         | 39/500 [00:02<00:24, 18.71it/s]
  8%|8         | 41/500 [00:02<00:24, 18.82it/s]
  9%|8         | 43/500 [00:02<00:24, 18.73it/s]
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  9%|9         | 47/500 [00:02<00:24, 18.66it/s]
 10%|9         | 49/500 [00:02<00:24, 18.64it/s]
 10%|#         | 51/500 [00:02<00:24, 18.67it/s]
 11%|#         | 53/500 [00:03<00:24, 18.57it/s]
 11%|#1        | 55/500 [00:03<00:23, 18.67it/s]
 11%|#1        | 57/500 [00:03<00:23, 18.66it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.65it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.59it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.65it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.61it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.55it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.64it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.41it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.50it/s]
 15%|#5        | 75/500 [00:04<00:23, 18.41it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.53it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.52it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.63it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.65it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.69it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.71it/s]
 18%|#7        | 89/500 [00:04<00:21, 18.71it/s]
 18%|#8        | 91/500 [00:05<00:21, 18.72it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.70it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.73it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.47it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.58it/s]
 20%|##        | 101/500 [00:05<00:21, 18.54it/s]
 21%|##        | 103/500 [00:05<00:21, 18.54it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.67it/s]
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 22%|##1       | 109/500 [00:06<00:20, 18.71it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.70it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.76it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.75it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.69it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.69it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.68it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.67it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.43it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.59it/s]
 26%|##5       | 129/500 [00:07<00:19, 18.57it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.65it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.66it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.67it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.68it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.55it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.61it/s]
 29%|##9       | 145/500 [00:07<00:19, 18.62it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.53it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.80it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.65it/s]
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 33%|###2      | 163/500 [00:08<00:18, 18.48it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.31it/s]
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 35%|###4      | 173/500 [00:09<00:17, 18.53it/s]
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 39%|###9      | 195/500 [00:10<00:16, 18.64it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.50it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.44it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.19it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.10it/s]
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 54%|#####4    | 271/500 [00:14<00:12, 18.68it/s]
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 55%|#####5    | 275/500 [00:15<00:12, 18.69it/s]
 55%|#####5    | 277/500 [00:15<00:11, 18.63it/s]
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 58%|#####7    | 289/500 [00:15<00:11, 18.44it/s]
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 59%|#####8    | 295/500 [00:16<00:11, 18.48it/s]
 59%|#####9    | 297/500 [00:16<00:10, 18.54it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.60it/s]
 60%|######    | 301/500 [00:16<00:10, 18.63it/s]
 61%|######    | 303/500 [00:16<00:10, 18.57it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.53it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.63it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.55it/s]
 62%|######2   | 311/500 [00:16<00:10, 18.61it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.58it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.45it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.44it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.60it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.60it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.66it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.62it/s]
 73%|#######3  | 365/500 [00:19<00:07, 18.68it/s]
 73%|#######3  | 367/500 [00:19<00:07, 18.64it/s]
 74%|#######3  | 369/500 [00:20<00:07, 18.61it/s]
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 77%|#######7  | 387/500 [00:21<00:06, 18.64it/s]
 78%|#######7  | 389/500 [00:21<00:05, 18.69it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.72it/s]
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 81%|########1 | 405/500 [00:22<00:05, 18.47it/s]
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 83%|########2 | 413/500 [00:22<00:04, 18.67it/s]
 83%|########2 | 415/500 [00:22<00:04, 18.66it/s]
 83%|########3 | 417/500 [00:22<00:04, 18.66it/s]
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 88%|########8 | 441/500 [00:23<00:03, 18.67it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.72it/s]
 89%|########9 | 445/500 [00:24<00:02, 18.67it/s]
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 90%|########9 | 449/500 [00:24<00:02, 18.62it/s]
 90%|######### | 451/500 [00:24<00:02, 18.62it/s]
 91%|######### | 453/500 [00:24<00:02, 18.70it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.68it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.74it/s]
 92%|#########1| 459/500 [00:24<00:02, 18.73it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.63it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.67it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.66it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.69it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.70it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.72it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.71it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.69it/s]
 95%|#########5| 477/500 [00:25<00:01, 18.71it/s]
 96%|#########5| 479/500 [00:25<00:01, 18.69it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.71it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.70it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.74it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.74it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.67it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.54it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.59it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.64it/s]
 99%|#########9| 497/500 [00:26<00:00, 18.62it/s]
100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.45it/s]
-Train Epoch 3
-{
-    "Log_Likelihood": 14.601607076644898,
-    "Loss": -14.601607076644898,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 60023.89460623975,
-    "Time_Data_Loading": 0.021745177110036214,
-    "Time_Epoch": 0.45376174052556356,
-    "Time_Log_Info": 0.010353469848632812,
-    "Time_Process_Batch": 0.021768069267272948,
-    "Time_Train_Batch": 0.39714847405751547
-}
-
-Epoch 3 Memory Usage: 3096 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:29,  3.33it/s]
  1%|          | 3/500 [00:00<00:58,  8.56it/s]
  1%|1         | 5/500 [00:00<00:42, 11.71it/s]
  1%|1         | 7/500 [00:00<00:35, 13.97it/s]
  2%|1         | 9/500 [00:00<00:32, 14.98it/s]
  2%|2         | 11/500 [00:00<00:30, 16.24it/s]
  3%|2         | 13/500 [00:00<00:28, 16.99it/s]
  3%|3         | 15/500 [00:01<00:27, 17.46it/s]
  3%|3         | 17/500 [00:01<00:27, 17.84it/s]
  4%|3         | 19/500 [00:01<00:26, 18.04it/s]
  4%|4         | 21/500 [00:01<00:26, 18.26it/s]
  5%|4         | 23/500 [00:01<00:25, 18.44it/s]
  5%|5         | 25/500 [00:01<00:25, 18.47it/s]
  5%|5         | 27/500 [00:01<00:26, 18.17it/s]
  6%|5         | 29/500 [00:01<00:25, 18.34it/s]
  6%|6         | 31/500 [00:01<00:25, 18.26it/s]
  7%|6         | 33/500 [00:02<00:25, 18.47it/s]
  7%|7         | 35/500 [00:02<00:25, 18.51it/s]
  7%|7         | 37/500 [00:02<00:24, 18.59it/s]
  8%|7         | 39/500 [00:02<00:24, 18.67it/s]
  8%|8         | 41/500 [00:02<00:24, 18.67it/s]
  9%|8         | 43/500 [00:02<00:24, 18.71it/s]
  9%|9         | 45/500 [00:02<00:24, 18.69it/s]
  9%|9         | 47/500 [00:02<00:24, 18.72it/s]
 10%|9         | 49/500 [00:02<00:24, 18.71it/s]
 10%|#         | 51/500 [00:02<00:24, 18.64it/s]
 11%|#         | 53/500 [00:03<00:24, 18.50it/s]
 11%|#1        | 55/500 [00:03<00:24, 18.52it/s]
 11%|#1        | 57/500 [00:03<00:23, 18.62it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.61it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.68it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.59it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.57it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.56it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.63it/s]
 14%|#4        | 71/500 [00:04<00:22, 18.66it/s]
 15%|#4        | 73/500 [00:04<00:22, 18.63it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.65it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.71it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.71it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.72it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.72it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.70it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.65it/s]
 18%|#7        | 89/500 [00:05<00:21, 18.69it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.47it/s]
 19%|#8        | 93/500 [00:05<00:22, 18.48it/s]
 19%|#9        | 95/500 [00:05<00:22, 18.37it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.53it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.46it/s]
 20%|##        | 101/500 [00:05<00:21, 18.35it/s]
 21%|##        | 103/500 [00:05<00:21, 18.45it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.45it/s]
 21%|##1       | 107/500 [00:06<00:21, 18.49it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.60it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.33it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.60it/s]
 23%|##3       | 115/500 [00:06<00:21, 18.32it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.57it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.37it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.47it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.38it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.59it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.65it/s]
 26%|##5       | 129/500 [00:07<00:19, 18.60it/s]
 26%|##6       | 131/500 [00:07<00:19, 18.66it/s]
 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, 18.61it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.66it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.40it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.50it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.30it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.45it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.39it/s]
 30%|###       | 151/500 [00:08<00:18, 18.44it/s]
 31%|###       | 153/500 [00:08<00:18, 18.41it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.54it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.45it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.51it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.52it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.61it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.42it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.43it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.55it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.55it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.39it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.34it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.33it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.51it/s]
 36%|###6      | 181/500 [00:10<00:17, 18.54it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.62it/s]
 37%|###7      | 185/500 [00:10<00:16, 18.63it/s]
 37%|###7      | 187/500 [00:10<00:16, 18.63it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.60it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.54it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.68it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.61it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.57it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.50it/s]
 40%|####      | 201/500 [00:11<00:16, 18.59it/s]
 41%|####      | 203/500 [00:11<00:15, 18.59it/s]
 41%|####1     | 205/500 [00:11<00:15, 18.62it/s]
 41%|####1     | 207/500 [00:11<00:15, 18.57it/s]
 42%|####1     | 209/500 [00:11<00:15, 18.55it/s]
 42%|####2     | 211/500 [00:11<00:15, 18.59it/s]
 43%|####2     | 213/500 [00:11<00:15, 18.60it/s]
 43%|####3     | 215/500 [00:11<00:15, 18.58it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.63it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.73it/s]
 44%|####4     | 221/500 [00:12<00:14, 18.64it/s]
 45%|####4     | 223/500 [00:12<00:14, 18.68it/s]
 45%|####5     | 225/500 [00:12<00:14, 18.73it/s]
 45%|####5     | 227/500 [00:12<00:14, 18.63it/s]
 46%|####5     | 229/500 [00:12<00:14, 18.64it/s]
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 47%|####6     | 233/500 [00:12<00:14, 18.64it/s]
 47%|####6     | 235/500 [00:12<00:14, 18.62it/s]
 47%|####7     | 237/500 [00:13<00:14, 18.66it/s]
 48%|####7     | 239/500 [00:13<00:13, 18.71it/s]
 48%|####8     | 241/500 [00:13<00:13, 18.62it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.65it/s]
 49%|####9     | 245/500 [00:13<00:13, 18.53it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.64it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.55it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.69it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.54it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.69it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.55it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.36it/s]
 52%|#####2    | 261/500 [00:14<00:13, 18.32it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.40it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.50it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.59it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.58it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.62it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.57it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.55it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.43it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.55it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.56it/s]
 57%|#####6    | 283/500 [00:15<00:11, 18.48it/s]
 57%|#####6    | 285/500 [00:15<00:11, 18.60it/s]
 57%|#####7    | 287/500 [00:15<00:11, 18.55it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.64it/s]
 58%|#####8    | 291/500 [00:15<00:11, 18.54it/s]
 59%|#####8    | 293/500 [00:16<00:11, 18.45it/s]
 59%|#####8    | 295/500 [00:16<00:11, 18.40it/s]
 59%|#####9    | 297/500 [00:16<00:11, 18.36it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.38it/s]
 60%|######    | 301/500 [00:16<00:10, 18.33it/s]
 61%|######    | 303/500 [00:16<00:10, 18.45it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.59it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.53it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.56it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.58it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.63it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.49it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.45it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.41it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.50it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.47it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.55it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.65it/s]
 66%|######5   | 329/500 [00:17<00:09, 18.46it/s]
 66%|######6   | 331/500 [00:18<00:09, 18.63it/s]
 67%|######6   | 333/500 [00:18<00:09, 18.41it/s]
 67%|######7   | 335/500 [00:18<00:08, 18.53it/s]
 67%|######7   | 337/500 [00:18<00:08, 18.36it/s]
 68%|######7   | 339/500 [00:18<00:08, 18.57it/s]
 68%|######8   | 341/500 [00:18<00:08, 18.44it/s]
 69%|######8   | 343/500 [00:18<00:08, 18.57it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.60it/s]
 69%|######9   | 347/500 [00:18<00:08, 18.69it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.45it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.53it/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, 18.65it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.60it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.74it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.68it/s]
 73%|#######3  | 365/500 [00:19<00:07, 18.70it/s]
 73%|#######3  | 367/500 [00:20<00:07, 18.58it/s]
 74%|#######3  | 369/500 [00:20<00:07, 18.59it/s]
 74%|#######4  | 371/500 [00:20<00:06, 18.63it/s]
 75%|#######4  | 373/500 [00:20<00:06, 18.57it/s]
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 75%|#######5  | 377/500 [00:20<00:06, 18.28it/s]
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 76%|#######6  | 381/500 [00:20<00:06, 18.40it/s]
 77%|#######6  | 383/500 [00:20<00:06, 18.45it/s]
 77%|#######7  | 385/500 [00:21<00:06, 18.53it/s]
 77%|#######7  | 387/500 [00:21<00:06, 18.52it/s]
 78%|#######7  | 389/500 [00:21<00:05, 18.58it/s]
 78%|#######8  | 391/500 [00:21<00:05, 18.60it/s]
 79%|#######8  | 393/500 [00:21<00:05, 18.51it/s]
 79%|#######9  | 395/500 [00:21<00:05, 18.63it/s]
 79%|#######9  | 397/500 [00:21<00:05, 18.57it/s]
 80%|#######9  | 399/500 [00:21<00:05, 18.57it/s]
 80%|########  | 401/500 [00:21<00:05, 18.58it/s]
 81%|########  | 403/500 [00:21<00:05, 18.63it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.64it/s]
 81%|########1 | 407/500 [00:22<00:05, 18.59it/s]
 82%|########1 | 409/500 [00:22<00:04, 18.70it/s]
 82%|########2 | 411/500 [00:22<00:04, 18.67it/s]
 83%|########2 | 413/500 [00:22<00:04, 18.75it/s]
 83%|########2 | 415/500 [00:22<00:04, 18.58it/s]
 83%|########3 | 417/500 [00:22<00:04, 18.64it/s]
 84%|########3 | 419/500 [00:22<00:04, 18.62it/s]
 84%|########4 | 421/500 [00:22<00:04, 18.71it/s]
 85%|########4 | 423/500 [00:23<00:04, 18.68it/s]
 85%|########5 | 425/500 [00:23<00:04, 18.53it/s]
 85%|########5 | 427/500 [00:23<00:03, 18.52it/s]
 86%|########5 | 429/500 [00:23<00:03, 18.50it/s]
 86%|########6 | 431/500 [00:23<00:03, 18.34it/s]
 87%|########6 | 433/500 [00:23<00:03, 18.24it/s]
 87%|########7 | 435/500 [00:23<00:03, 18.30it/s]
 87%|########7 | 437/500 [00:23<00:03, 18.45it/s]
 88%|########7 | 439/500 [00:23<00:03, 18.43it/s]
 88%|########8 | 441/500 [00:24<00:03, 18.54it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.51it/s]
 89%|########9 | 445/500 [00:24<00:02, 18.56it/s]
 89%|########9 | 447/500 [00:24<00:02, 18.61it/s]
 90%|########9 | 449/500 [00:24<00:02, 18.59it/s]
 90%|######### | 451/500 [00:24<00:02, 18.63it/s]
 91%|######### | 453/500 [00:24<00:02, 18.60it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.65it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.55it/s]
 92%|#########1| 459/500 [00:24<00:02, 18.63it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.59it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.58it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.58it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.64it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.55it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.48it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.55it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.55it/s]
 95%|#########5| 477/500 [00:25<00:01, 18.65it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.65it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.64it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.66it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.64it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.65it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.40it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.39it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.37it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.37it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.50it/s]
100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 4
-{
-    "Log_Likelihood": 14.687031736373902,
-    "Loss": -14.687031736373902,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 56968.41606172399,
-    "Time_Data_Loading": 0.022683640321095783,
-    "Time_Epoch": 0.455751629670461,
-    "Time_Log_Info": 0.010409104824066161,
-    "Time_Process_Batch": 0.021617690722147625,
-    "Time_Train_Batch": 0.3981419603029887
-}
-
-Epoch 4 Memory Usage: 3097 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:04,  4.01it/s]
  1%|          | 3/500 [00:00<00:51,  9.63it/s]
  1%|1         | 5/500 [00:00<00:38, 12.94it/s]
  1%|1         | 7/500 [00:00<00:33, 14.80it/s]
  2%|1         | 9/500 [00:00<00:30, 16.12it/s]
  2%|2         | 11/500 [00:00<00:29, 16.48it/s]
  3%|2         | 13/500 [00:00<00:28, 16.99it/s]
  3%|3         | 15/500 [00:01<00:27, 17.51it/s]
  3%|3         | 17/500 [00:01<00:27, 17.79it/s]
  4%|3         | 19/500 [00:01<00:26, 18.06it/s]
  4%|4         | 21/500 [00:01<00:26, 18.33it/s]
  5%|4         | 23/500 [00:01<00:25, 18.41it/s]
  5%|5         | 25/500 [00:01<00:25, 18.60it/s]
  5%|5         | 27/500 [00:01<00:25, 18.57it/s]
  6%|5         | 29/500 [00:01<00:25, 18.60it/s]
  6%|6         | 31/500 [00:01<00:25, 18.65it/s]
  7%|6         | 33/500 [00:01<00:26, 17.60it/s]
  7%|7         | 35/500 [00:02<00:25, 17.97it/s]
  7%|7         | 37/500 [00:02<00:25, 18.09it/s]
  8%|7         | 39/500 [00:02<00:25, 18.33it/s]
  8%|8         | 41/500 [00:02<00:25, 18.31it/s]
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 10%|9         | 49/500 [00:02<00:24, 18.67it/s]
 10%|#         | 51/500 [00:02<00:24, 18.47it/s]
 11%|#         | 53/500 [00:03<00:24, 18.38it/s]
 11%|#1        | 55/500 [00:03<00:24, 18.31it/s]
 11%|#1        | 57/500 [00:03<00:24, 18.38it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.46it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.53it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.56it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.62it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.52it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.57it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.55it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.46it/s]
 15%|#5        | 75/500 [00:04<00:23, 18.44it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.44it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.43it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.56it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.60it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.64it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.67it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.64it/s]
 18%|#8        | 91/500 [00:05<00:21, 18.63it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.60it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.66it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.65it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.72it/s]
 20%|##        | 101/500 [00:05<00:21, 18.73it/s]
 21%|##        | 103/500 [00:05<00:21, 18.73it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.81it/s]
 21%|##1       | 107/500 [00:05<00:20, 18.80it/s]
 22%|##1       | 109/500 [00:06<00:20, 18.78it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.56it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.59it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.59it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.61it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.47it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.50it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.57it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.61it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.50it/s]
 26%|##5       | 129/500 [00:07<00:19, 18.55it/s]
 26%|##6       | 131/500 [00:07<00:19, 18.65it/s]
 27%|##6       | 133/500 [00:07<00:19, 18.63it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.51it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.49it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.56it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.53it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.58it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.50it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.46it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.50it/s]
 30%|###       | 151/500 [00:08<00:18, 18.56it/s]
 31%|###       | 153/500 [00:08<00:18, 18.63it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.58it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.65it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.61it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.68it/s]
 33%|###2      | 163/500 [00:08<00:18, 18.51it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.50it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.51it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.48it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.39it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.48it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.51it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.56it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.47it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.31it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.32it/s]
 37%|###7      | 185/500 [00:10<00:17, 18.46it/s]
 37%|###7      | 187/500 [00:10<00:16, 18.48it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.55it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.48it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.45it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.42it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.56it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.49it/s]
 40%|####      | 201/500 [00:11<00:16, 18.61it/s]
 41%|####      | 203/500 [00:11<00:15, 18.62it/s]
 41%|####1     | 205/500 [00:11<00:15, 18.60it/s]
 41%|####1     | 207/500 [00:11<00:15, 18.59it/s]
 42%|####1     | 209/500 [00:11<00:15, 18.57it/s]
 42%|####2     | 211/500 [00:11<00:15, 18.68it/s]
 43%|####2     | 213/500 [00:11<00:15, 18.59it/s]
 43%|####3     | 215/500 [00:11<00:15, 18.66it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.57it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.53it/s]
 44%|####4     | 221/500 [00:12<00:15, 18.50it/s]
 45%|####4     | 223/500 [00:12<00:14, 18.58it/s]
 45%|####5     | 225/500 [00:12<00:14, 18.39it/s]
 45%|####5     | 227/500 [00:12<00:14, 18.43it/s]
 46%|####5     | 229/500 [00:12<00:14, 18.26it/s]
 46%|####6     | 231/500 [00:12<00:14, 18.36it/s]
 47%|####6     | 233/500 [00:12<00:14, 18.44it/s]
 47%|####6     | 235/500 [00:12<00:14, 18.45it/s]
 47%|####7     | 237/500 [00:12<00:14, 18.32it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.38it/s]
 48%|####8     | 241/500 [00:13<00:14, 18.40it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.54it/s]
 49%|####9     | 245/500 [00:13<00:13, 18.55it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.61it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.59it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.63it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.68it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.64it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.62it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.29it/s]
 52%|#####2    | 261/500 [00:14<00:13, 18.25it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.33it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.40it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.44it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.48it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.36it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.45it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.45it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.51it/s]
 56%|#####5    | 279/500 [00:15<00:12, 18.01it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.30it/s]
 57%|#####6    | 283/500 [00:15<00:11, 18.27it/s]
 57%|#####6    | 285/500 [00:15<00:11, 18.30it/s]
 57%|#####7    | 287/500 [00:15<00:11, 18.45it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.48it/s]
 58%|#####8    | 291/500 [00:15<00:11, 18.44it/s]
 59%|#####8    | 293/500 [00:16<00:11, 18.43it/s]
 59%|#####8    | 295/500 [00:16<00:11, 18.40it/s]
 59%|#####9    | 297/500 [00:16<00:11, 18.29it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.31it/s]
 60%|######    | 301/500 [00:16<00:10, 18.40it/s]
 61%|######    | 303/500 [00:16<00:10, 18.47it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.45it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.53it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.57it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.64it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.41it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.23it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.39it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.43it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.48it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.37it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.44it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.35it/s]
 66%|######5   | 329/500 [00:17<00:09, 18.47it/s]
 66%|######6   | 331/500 [00:18<00:09, 18.50it/s]
 67%|######6   | 333/500 [00:18<00:09, 18.35it/s]
 67%|######7   | 335/500 [00:18<00:08, 18.37it/s]
 67%|######7   | 337/500 [00:18<00:08, 18.45it/s]
 68%|######7   | 339/500 [00:18<00:08, 18.54it/s]
 68%|######8   | 341/500 [00:18<00:08, 18.46it/s]
 69%|######8   | 343/500 [00:18<00:08, 18.56it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.61it/s]
 69%|######9   | 347/500 [00:18<00:08, 18.70it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.71it/s]
 70%|#######   | 351/500 [00:19<00:07, 18.66it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.47it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.43it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.47it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.55it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.43it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.48it/s]
 73%|#######3  | 365/500 [00:19<00:07, 18.35it/s]
 73%|#######3  | 367/500 [00:20<00:07, 18.38it/s]
 74%|#######3  | 369/500 [00:20<00:07, 18.28it/s]
 74%|#######4  | 371/500 [00:20<00:07, 18.24it/s]
 75%|#######4  | 373/500 [00:20<00:07, 17.74it/s]
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 75%|#######5  | 377/500 [00:20<00:06, 18.00it/s]
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 76%|#######6  | 381/500 [00:20<00:06, 18.29it/s]
 77%|#######6  | 383/500 [00:20<00:06, 18.22it/s]
 77%|#######7  | 385/500 [00:21<00:06, 18.08it/s]
 77%|#######7  | 387/500 [00:21<00:06, 17.80it/s]
 78%|#######7  | 389/500 [00:21<00:06, 17.97it/s]
 78%|#######8  | 391/500 [00:21<00:06, 18.12it/s]
 79%|#######8  | 393/500 [00:21<00:05, 18.28it/s]
 79%|#######9  | 395/500 [00:21<00:05, 18.36it/s]
 79%|#######9  | 397/500 [00:21<00:05, 18.50it/s]
 80%|#######9  | 399/500 [00:21<00:05, 18.33it/s]
 80%|########  | 401/500 [00:21<00:05, 18.40it/s]
 81%|########  | 403/500 [00:22<00:05, 18.46it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.36it/s]
 81%|########1 | 407/500 [00:22<00:05, 18.43it/s]
 82%|########1 | 409/500 [00:22<00:04, 18.48it/s]
 82%|########2 | 411/500 [00:22<00:04, 18.52it/s]
 83%|########2 | 413/500 [00:22<00:04, 18.57it/s]
 83%|########2 | 415/500 [00:22<00:04, 18.38it/s]
 83%|########3 | 417/500 [00:22<00:04, 18.41it/s]
 84%|########3 | 419/500 [00:22<00:04, 18.48it/s]
 84%|########4 | 421/500 [00:22<00:04, 18.64it/s]
 85%|########4 | 423/500 [00:23<00:04, 18.55it/s]
 85%|########5 | 425/500 [00:23<00:04, 18.68it/s]
 85%|########5 | 427/500 [00:23<00:03, 18.62it/s]
 86%|########5 | 429/500 [00:23<00:03, 18.69it/s]
 86%|########6 | 431/500 [00:23<00:03, 18.67it/s]
 87%|########6 | 433/500 [00:23<00:03, 18.63it/s]
 87%|########7 | 435/500 [00:23<00:03, 18.53it/s]
 87%|########7 | 437/500 [00:23<00:03, 18.61it/s]
 88%|########7 | 439/500 [00:23<00:03, 18.62it/s]
 88%|########8 | 441/500 [00:24<00:03, 18.61it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.59it/s]
 89%|########9 | 445/500 [00:24<00:02, 18.41it/s]
 89%|########9 | 447/500 [00:24<00:02, 18.42it/s]
 90%|########9 | 449/500 [00:24<00:02, 18.44it/s]
 90%|######### | 451/500 [00:24<00:02, 18.36it/s]
 91%|######### | 453/500 [00:24<00:02, 18.39it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.35it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.43it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.52it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.53it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.59it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.58it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.67it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.56it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.58it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.64it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.60it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.24it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.01it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.17it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.26it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.17it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.17it/s]
 98%|#########7| 489/500 [00:26<00:00, 17.85it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.07it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.27it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.24it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.34it/s]
100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 5
-{
-    "Log_Likelihood": 14.921647520065308,
-    "Loss": -14.921647520065308,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 56819.18006467128,
-    "Time_Data_Loading": 0.022118075688680013,
-    "Time_Epoch": 0.45697789986928306,
-    "Time_Log_Info": 0.010382421811421712,
-    "Time_Process_Batch": 0.022610239187876382,
-    "Time_Train_Batch": 0.39905179738998414
-}
-
-Epoch 5 Memory Usage: 3100 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:10,  3.82it/s]
  1%|          | 3/500 [00:00<00:53,  9.31it/s]
  1%|1         | 5/500 [00:00<00:40, 12.26it/s]
  1%|1         | 7/500 [00:00<00:34, 14.35it/s]
  2%|1         | 9/500 [00:00<00:31, 15.73it/s]
  2%|2         | 11/500 [00:00<00:29, 16.68it/s]
  3%|2         | 13/500 [00:00<00:28, 17.29it/s]
  3%|3         | 15/500 [00:01<00:27, 17.75it/s]
  3%|3         | 17/500 [00:01<00:26, 17.90it/s]
  4%|3         | 19/500 [00:01<00:26, 18.17it/s]
  4%|4         | 21/500 [00:01<00:26, 17.99it/s]
  5%|4         | 23/500 [00:01<00:26, 18.31it/s]
  5%|5         | 25/500 [00:01<00:26, 18.00it/s]
  5%|5         | 27/500 [00:01<00:25, 18.26it/s]
  6%|5         | 29/500 [00:01<00:26, 18.07it/s]
  6%|6         | 31/500 [00:01<00:25, 18.34it/s]
  7%|6         | 33/500 [00:01<00:25, 18.39it/s]
  7%|7         | 35/500 [00:02<00:25, 18.50it/s]
  7%|7         | 37/500 [00:02<00:25, 18.47it/s]
  8%|7         | 39/500 [00:02<00:24, 18.63it/s]
  8%|8         | 41/500 [00:02<00:24, 18.50it/s]
  9%|8         | 43/500 [00:02<00:24, 18.51it/s]
  9%|9         | 45/500 [00:02<00:24, 18.57it/s]
  9%|9         | 47/500 [00:02<00:24, 18.69it/s]
 10%|9         | 49/500 [00:02<00:24, 18.73it/s]
 10%|#         | 51/500 [00:02<00:24, 18.66it/s]
 11%|#         | 53/500 [00:03<00:23, 18.78it/s]
 11%|#1        | 55/500 [00:03<00:23, 18.76it/s]
 11%|#1        | 57/500 [00:03<00:23, 18.66it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.73it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.66it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.61it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.62it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.68it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.69it/s]
 14%|#4        | 71/500 [00:04<00:22, 18.66it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.50it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.57it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.63it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.64it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.52it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.52it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.60it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.55it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.43it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.41it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.50it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.52it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.61it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.53it/s]
 20%|##        | 101/500 [00:05<00:21, 18.43it/s]
 21%|##        | 103/500 [00:05<00:21, 18.41it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.52it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.50it/s]
 22%|##1       | 109/500 [00:06<00:20, 18.64it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.64it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.49it/s]
 23%|##3       | 115/500 [00:06<00:21, 18.30it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.25it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.16it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.24it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.31it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.37it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.44it/s]
 26%|##5       | 129/500 [00:07<00:20, 18.33it/s]
 26%|##6       | 131/500 [00:07<00:19, 18.47it/s]
 27%|##6       | 133/500 [00:07<00:19, 18.50it/s]
 27%|##7       | 135/500 [00:07<00:20, 18.16it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.27it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.41it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.43it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.51it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.50it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.48it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.54it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.51it/s]
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 59%|#####9    | 297/500 [00:16<00:10, 18.52it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.50it/s]
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 62%|######1   | 309/500 [00:16<00:10, 18.43it/s]
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 63%|######2   | 313/500 [00:17<00:10, 18.53it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.57it/s]
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 69%|######9   | 345/500 [00:18<00:08, 18.66it/s]
 69%|######9   | 347/500 [00:18<00:08, 18.58it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.58it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.61it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.62it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.63it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.60it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.56it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.41it/s]
 81%|########  | 403/500 [00:21<00:05, 18.50it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.48it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.65it/s]
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 93%|#########3| 467/500 [00:25<00:01, 18.63it/s]
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 96%|#########6| 481/500 [00:26<00:01, 18.60it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.63it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 6
-{
-    "Log_Likelihood": 15.366938791275025,
-    "Loss": -15.366938791275025,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 53997.11348893325,
-    "Time_Data_Loading": 0.0220967173576355,
-    "Time_Epoch": 0.45563188393910725,
-    "Time_Log_Info": 0.01041878859202067,
-    "Time_Process_Batch": 0.021936388810475667,
-    "Time_Train_Batch": 0.3983847777048747
-}
-
-Epoch 6 Memory Usage: 3101 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:31,  3.30it/s]
  1%|          | 3/500 [00:00<00:58,  8.55it/s]
  1%|1         | 5/500 [00:00<00:42, 11.74it/s]
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  2%|1         | 9/500 [00:00<00:31, 15.45it/s]
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  3%|2         | 13/500 [00:00<00:28, 17.14it/s]
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  5%|5         | 25/500 [00:01<00:25, 18.39it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.62it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.59it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.50it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.53it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.53it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.61it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.40it/s]
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 81%|########1 | 405/500 [00:22<00:05, 18.69it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.38it/s]
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 93%|#########3| 467/500 [00:25<00:01, 18.01it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.11it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.47it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.52it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.51it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.30it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 7
-{
-    "Log_Likelihood": 15.590432626724244,
-    "Loss": -15.590432626724244,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 55802.476543088495,
-    "Time_Data_Loading": 0.023247834046681723,
-    "Time_Epoch": 0.4572876254717509,
-    "Time_Log_Info": 0.0104035218556722,
-    "Time_Process_Batch": 0.02200329303741455,
-    "Time_Train_Batch": 0.3985963980356852
-}
-
-Epoch 7 Memory Usage: 3102 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:20,  3.54it/s]
  1%|          | 3/500 [00:00<00:55,  8.94it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.38it/s]
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 54%|#####4    | 271/500 [00:14<00:12, 18.33it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.28it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.40it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.39it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.44it/s]
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 72%|#######1  | 359/500 [00:19<00:07, 18.57it/s]
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 81%|########1 | 405/500 [00:22<00:05, 18.34it/s]
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 93%|#########2| 463/500 [00:25<00:01, 18.57it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.50it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.58it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.57it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.57it/s]
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 95%|#########5| 475/500 [00:25<00:01, 18.53it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.54it/s]
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 96%|#########6| 481/500 [00:26<00:01, 18.52it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.23it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.31it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.43it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.44it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.50it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.49it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.51it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.55it/s]
100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 8
-{
-    "Log_Likelihood": 15.739026113510132,
-    "Loss": -15.739026113510132,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 53428.594660073024,
-    "Time_Data_Loading": 0.02235832214355469,
-    "Time_Epoch": 0.45649735927581786,
-    "Time_Log_Info": 0.010416642824808756,
-    "Time_Process_Batch": 0.021837449073791503,
-    "Time_Train_Batch": 0.39903918107350667
-}
-
-Epoch 8 Memory Usage: 3105 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:00,  4.15it/s]
  1%|          | 3/500 [00:00<00:51,  9.69it/s]
  1%|1         | 5/500 [00:00<00:40, 12.30it/s]
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  3%|2         | 13/500 [00:00<00:28, 17.23it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.51it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.40it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.45it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.56it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.50it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.51it/s]
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 99%|#########9| 495/500 [00:26<00:00, 18.57it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.59it/s]
100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 9
-{
-    "Log_Likelihood": 15.88451338005066,
-    "Loss": -15.88451338005066,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 51954.36888239352,
-    "Time_Data_Loading": 0.022056965033213298,
-    "Time_Epoch": 0.45581297477086385,
-    "Time_Log_Info": 0.010417060057322184,
-    "Time_Process_Batch": 0.0218462864557902,
-    "Time_Train_Batch": 0.39851287603378294
-}
-
-Epoch 9 Memory Usage: 3106 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:02,  4.06it/s]
  1%|          | 3/500 [00:00<00:51,  9.71it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.48it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.53it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.43it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.27it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.35it/s]
100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 10
-{
-    "Log_Likelihood": 16.26556912612915,
-    "Loss": -16.26556912612915,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 47536.64013274971,
-    "Time_Data_Loading": 0.022555847962697346,
-    "Time_Epoch": 0.45772955814997357,
-    "Time_Log_Info": 0.01039504607518514,
-    "Time_Process_Batch": 0.022262760003407798,
-    "Time_Train_Batch": 0.39965064922968546
-}
-
-Epoch 10 Memory Usage: 3108 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:02,  4.06it/s]
  1%|          | 3/500 [00:00<00:51,  9.63it/s]
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  4%|4         | 21/500 [00:01<00:26, 18.13it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 11
-{
-    "Log_Likelihood": 16.34690972709656,
-    "Loss": -16.34690972709656,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 45107.437324830695,
-    "Time_Data_Loading": 0.022924784819285074,
-    "Time_Epoch": 0.45755398670832315,
-    "Time_Log_Info": 0.010397366682688395,
-    "Time_Process_Batch": 0.02235613266626994,
-    "Time_Train_Batch": 0.3989006439844767
-}
-
-Epoch 11 Memory Usage: 3110 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:20,  3.56it/s]
  1%|          | 3/500 [00:00<00:55,  8.96it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.29it/s]
-Train Epoch 12
-{
-    "Log_Likelihood": 16.526235830307005,
-    "Loss": -16.526235830307005,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 45469.28324969229,
-    "Time_Data_Loading": 0.02329326868057251,
-    "Time_Epoch": 0.4580625494321187,
-    "Time_Log_Info": 0.010382374127705893,
-    "Time_Process_Batch": 0.02225723663965861,
-    "Time_Train_Batch": 0.3990655700365702
-}
-
-Epoch 12 Memory Usage: 3112 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
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  2%|1         | 9/500 [00:00<00:30, 16.15it/s]
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 14%|#3        | 69/500 [00:03<00:23, 18.41it/s]
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 24%|##3       | 119/500 [00:06<00:20, 18.43it/s]
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 27%|##7       | 137/500 [00:07<00:19, 18.50it/s]
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 30%|###       | 151/500 [00:08<00:19, 18.35it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.43it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.38it/s]
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 35%|###4      | 173/500 [00:09<00:17, 18.44it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.50it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.48it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.42it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.58it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.52it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.43it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.54it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.65it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 13
-{
-    "Log_Likelihood": 16.613536659240722,
-    "Loss": -16.613536659240722,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 46635.882910346016,
-    "Time_Data_Loading": 0.021462194124857583,
-    "Time_Epoch": 0.4558511137962341,
-    "Time_Log_Info": 0.010370961825052897,
-    "Time_Process_Batch": 0.0218624750773112,
-    "Time_Train_Batch": 0.3992195129394531
-}
-
-Epoch 13 Memory Usage: 3113 MB
-
-
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  1%|          | 3/500 [00:00<00:51,  9.70it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.57it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.66it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.48it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.54it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.64it/s]
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 15%|#4        | 73/500 [00:04<00:22, 18.60it/s]
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 15%|#5        | 77/500 [00:04<00:22, 18.54it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.67it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.62it/s]
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 18%|#7        | 89/500 [00:04<00:22, 18.43it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.48it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.57it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.65it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.53it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.46it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.47it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.48it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.53it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.57it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.58it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.54it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.57it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.55it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.53it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.53it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.56it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.64it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.46it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.44it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.39it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.32it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.46it/s]
 30%|###       | 151/500 [00:08<00:18, 18.48it/s]
 31%|###       | 153/500 [00:08<00:18, 18.49it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.34it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.54it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.56it/s]
 33%|###2      | 163/500 [00:08<00:18, 18.60it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.57it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.62it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.45it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.57it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.33it/s]
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 35%|###5      | 177/500 [00:09<00:17, 18.49it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.63it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.47it/s]
 37%|###6      | 183/500 [00:10<00:16, 18.67it/s]
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 43%|####3     | 215/500 [00:11<00:15, 18.23it/s]
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 48%|####7     | 239/500 [00:13<00:14, 18.51it/s]
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 49%|####9     | 247/500 [00:13<00:13, 18.61it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.66it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.61it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.57it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.56it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.49it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.54it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.54it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.40it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.34it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.42it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.44it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.55it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.49it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.45it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.46it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.51it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.39it/s]
 62%|######2   | 311/500 [00:16<00:10, 18.39it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.32it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.35it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.30it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.69it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.59it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.64it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.58it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.58it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.56it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.59it/s]
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 81%|########1 | 405/500 [00:22<00:05, 18.63it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.34it/s]
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 93%|#########3| 465/500 [00:25<00:01, 18.51it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.50it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.47it/s]
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 96%|#########5| 479/500 [00:26<00:01, 18.50it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.55it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.45it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.44it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.43it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.57it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.54it/s]
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 99%|#########9| 495/500 [00:26<00:00, 18.48it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.55it/s]
100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 14
-{
-    "Log_Likelihood": 16.798980974197388,
-    "Loss": -16.798980974197388,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 40336.134921991485,
-    "Time_Data_Loading": 0.021597973505655923,
-    "Time_Epoch": 0.4557238817214966,
-    "Time_Log_Info": 0.010398519039154053,
-    "Time_Process_Batch": 0.02172110875447591,
-    "Time_Train_Batch": 0.398799999554952
-}
-
-Epoch 14 Memory Usage: 3115 MB
-
-
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  0%|          | 1/500 [00:00<01:51,  4.47it/s]
  1%|          | 3/500 [00:00<00:49, 10.10it/s]
  1%|1         | 5/500 [00:00<00:38, 12.97it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.51it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.50it/s]
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 23%|##3       | 115/500 [00:06<00:20, 18.54it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.54it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.56it/s]
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 25%|##4       | 123/500 [00:06<00:20, 18.50it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.55it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.57it/s]
 26%|##5       | 129/500 [00:07<00:20, 18.53it/s]
 26%|##6       | 131/500 [00:07<00:19, 18.45it/s]
 27%|##6       | 133/500 [00:07<00:19, 18.40it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.42it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.46it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.53it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.55it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.54it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.60it/s]
 29%|##9       | 147/500 [00:08<00:18, 18.62it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.52it/s]
 31%|###       | 153/500 [00:08<00:18, 18.60it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.62it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.61it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.53it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.57it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.54it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.60it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.62it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.38it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.47it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.49it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.36it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.44it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.29it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.26it/s]
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 37%|###7      | 187/500 [00:10<00:17, 18.21it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.33it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.29it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.41it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.27it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.28it/s]
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 43%|####2     | 213/500 [00:11<00:15, 18.49it/s]
 43%|####3     | 215/500 [00:11<00:15, 18.43it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.53it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.48it/s]
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 47%|####7     | 237/500 [00:13<00:14, 18.12it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.07it/s]
 48%|####8     | 241/500 [00:13<00:14, 18.28it/s]
 49%|####8     | 243/500 [00:13<00:14, 18.06it/s]
 49%|####9     | 245/500 [00:13<00:14, 18.11it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.21it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.32it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.09it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.25it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.30it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.34it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.20it/s]
 52%|#####2    | 261/500 [00:14<00:13, 18.27it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.30it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.32it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.47it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.38it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.47it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.45it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.60it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.47it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.61it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.66it/s]
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 57%|#####6    | 285/500 [00:15<00:11, 18.30it/s]
 57%|#####7    | 287/500 [00:15<00:11, 18.23it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.33it/s]
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 59%|#####8    | 293/500 [00:16<00:11, 18.17it/s]
 59%|#####8    | 295/500 [00:16<00:11, 18.16it/s]
 59%|#####9    | 297/500 [00:16<00:11, 18.33it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.47it/s]
 60%|######    | 301/500 [00:16<00:10, 18.57it/s]
 61%|######    | 303/500 [00:16<00:10, 18.59it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.56it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.57it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.56it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.56it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.51it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.48it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.46it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.46it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.31it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.40it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.41it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.54it/s]
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 66%|######6   | 331/500 [00:18<00:09, 18.58it/s]
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 67%|######7   | 335/500 [00:18<00:08, 18.35it/s]
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 69%|######8   | 343/500 [00:18<00:08, 18.35it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.39it/s]
 69%|######9   | 347/500 [00:19<00:08, 18.39it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.43it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.43it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.41it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.39it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.50it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.54it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.44it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.49it/s]
 73%|#######3  | 365/500 [00:19<00:07, 18.53it/s]
 73%|#######3  | 367/500 [00:20<00:07, 18.57it/s]
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 77%|#######7  | 385/500 [00:21<00:06, 18.38it/s]
 77%|#######7  | 387/500 [00:21<00:06, 18.40it/s]
 78%|#######7  | 389/500 [00:21<00:05, 18.52it/s]
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 79%|#######8  | 393/500 [00:21<00:05, 18.51it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.47it/s]
 81%|########  | 403/500 [00:22<00:05, 18.43it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.43it/s]
 81%|########1 | 407/500 [00:22<00:05, 18.48it/s]
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 82%|########2 | 411/500 [00:22<00:04, 18.56it/s]
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 83%|########2 | 415/500 [00:22<00:04, 18.55it/s]
 83%|########3 | 417/500 [00:22<00:04, 18.57it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.61it/s]
 91%|######### | 453/500 [00:24<00:02, 18.55it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.58it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.55it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.61it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.59it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.59it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.55it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.43it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.44it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.55it/s]
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 95%|#########5| 477/500 [00:26<00:01, 18.40it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.55it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.57it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.58it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.64it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.61it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.64it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.49it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.46it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.61it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.60it/s]
100%|#########9| 499/500 [00:27<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 15
-{
-    "Log_Likelihood": 16.821496210098267,
-    "Loss": -16.821496210098267,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 41778.57087604077,
-    "Time_Data_Loading": 0.02203977902730306,
-    "Time_Epoch": 0.4570551594098409,
-    "Time_Log_Info": 0.010388652483622232,
-    "Time_Process_Batch": 0.022315680980682373,
-    "Time_Train_Batch": 0.3993727048238119
-}
-
-Epoch 15 Memory Usage: 3117 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:01,  4.09it/s]
  1%|          | 3/500 [00:00<00:50,  9.82it/s]
  1%|1         | 5/500 [00:00<00:38, 12.93it/s]
  1%|1         | 7/500 [00:00<00:32, 15.01it/s]
  2%|1         | 9/500 [00:00<00:30, 16.16it/s]
  2%|2         | 11/500 [00:00<00:28, 16.87it/s]
  3%|2         | 13/500 [00:00<00:28, 17.11it/s]
  3%|3         | 15/500 [00:00<00:27, 17.64it/s]
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  4%|4         | 21/500 [00:01<00:26, 18.22it/s]
  5%|4         | 23/500 [00:01<00:25, 18.39it/s]
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  7%|6         | 33/500 [00:01<00:24, 18.69it/s]
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 16%|#5        | 79/500 [00:04<00:22, 18.34it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.58it/s]
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 22%|##2       | 111/500 [00:06<00:21, 18.31it/s]
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 23%|##3       | 117/500 [00:06<00:20, 18.35it/s]
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 27%|##7       | 137/500 [00:07<00:19, 18.49it/s]
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 29%|##9       | 145/500 [00:08<00:19, 18.55it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.57it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.44it/s]
 30%|###       | 151/500 [00:08<00:18, 18.48it/s]
 31%|###       | 153/500 [00:08<00:18, 18.58it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.62it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.57it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.58it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.56it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.52it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.45it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.45it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.46it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.39it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.47it/s]
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 37%|###7      | 185/500 [00:10<00:17, 18.51it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.61it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.55it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.54it/s]
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 72%|#######1  | 359/500 [00:19<00:07, 18.47it/s]
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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, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 16
-{
-    "Log_Likelihood": 16.938040803909303,
-    "Loss": -16.938040803909303,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 38771.60291344515,
-    "Time_Data_Loading": 0.02259191672007243,
-    "Time_Epoch": 0.4571369250615438,
-    "Time_Log_Info": 0.010388350486755371,
-    "Time_Process_Batch": 0.02235117753346761,
-    "Time_Train_Batch": 0.3989022692044576
-}
-
-Epoch 16 Memory Usage: 3119 MB
-
-
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 50%|####9     | 249/500 [00:13<00:13, 18.56it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.58it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.57it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.52it/s]
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 56%|#####5    | 279/500 [00:15<00:11, 18.58it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.63it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.59it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.46it/s]
 62%|######2   | 311/500 [00:16<00:10, 18.48it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.49it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.53it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.50it/s]
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 69%|######9   | 345/500 [00:18<00:08, 18.39it/s]
 69%|######9   | 347/500 [00:18<00:08, 18.40it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.50it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.52it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.61it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.57it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.60it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.62it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.58it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.42it/s]
 81%|########  | 403/500 [00:21<00:05, 18.38it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.44it/s]
 81%|########1 | 407/500 [00:22<00:05, 18.48it/s]
 82%|########1 | 409/500 [00:22<00:04, 18.56it/s]
 82%|########2 | 411/500 [00:22<00:04, 18.51it/s]
 83%|########2 | 413/500 [00:22<00:04, 18.50it/s]
 83%|########2 | 415/500 [00:22<00:04, 18.49it/s]
 83%|########3 | 417/500 [00:22<00:04, 18.52it/s]
 84%|########3 | 419/500 [00:22<00:04, 18.53it/s]
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 85%|########4 | 423/500 [00:23<00:04, 18.48it/s]
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 88%|########8 | 441/500 [00:24<00:03, 18.34it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.50it/s]
 91%|######### | 453/500 [00:24<00:02, 18.48it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.43it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.47it/s]
 92%|#########1| 459/500 [00:24<00:02, 18.44it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.41it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.31it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.43it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.41it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.49it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.27it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.35it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.42it/s]
 95%|#########5| 477/500 [00:25<00:01, 18.52it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.36it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.48it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.40it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.35it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.45it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.48it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.43it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.22it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.34it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.31it/s]
100%|#########9| 499/500 [00:27<00:00, 18.32it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 17
-{
-    "Log_Likelihood": 16.979579977035524,
-    "Loss": -16.979579977035524,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 40743.96582757213,
-    "Time_Data_Loading": 0.022087899843851726,
-    "Time_Epoch": 0.4560172200202942,
-    "Time_Log_Info": 0.010371653238932292,
-    "Time_Process_Batch": 0.02191917896270752,
-    "Time_Train_Batch": 0.3985830624898275
-}
-
-Epoch 17 Memory Usage: 3120 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:14,  3.71it/s]
  1%|          | 3/500 [00:00<00:54,  9.14it/s]
  1%|1         | 5/500 [00:00<00:40, 12.21it/s]
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  2%|1         | 9/500 [00:00<00:31, 15.45it/s]
  2%|2         | 11/500 [00:00<00:29, 16.46it/s]
  3%|2         | 13/500 [00:00<00:28, 16.86it/s]
  3%|3         | 15/500 [00:01<00:27, 17.47it/s]
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  4%|3         | 19/500 [00:01<00:26, 17.85it/s]
  4%|4         | 21/500 [00:01<00:26, 18.03it/s]
  5%|4         | 23/500 [00:01<00:26, 18.20it/s]
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  6%|5         | 29/500 [00:01<00:25, 18.23it/s]
  6%|6         | 31/500 [00:01<00:25, 18.35it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.51it/s]
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 51%|#####1    | 255/500 [00:14<00:13, 18.53it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.54it/s]
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 62%|######1   | 309/500 [00:16<00:10, 18.52it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.49it/s]
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 63%|######3   | 315/500 [00:17<00:09, 18.51it/s]
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 71%|#######   | 353/500 [00:19<00:07, 18.62it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.60it/s]
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 72%|#######1  | 359/500 [00:19<00:07, 18.44it/s]
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 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, 18.54it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.57it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.29it/s]
100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 18
-{
-    "Log_Likelihood": 17.038248180389406,
-    "Loss": -17.038248180389406,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 37467.83981185392,
-    "Time_Data_Loading": 0.02281336784362793,
-    "Time_Epoch": 0.45703643957773843,
-    "Time_Log_Info": 0.010404908657073974,
-    "Time_Process_Batch": 0.022160168488820395,
-    "Time_Train_Batch": 0.39876606067021686
-}
-
-Epoch 18 Memory Usage: 3121 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:49,  4.55it/s]
  1%|          | 3/500 [00:00<00:48, 10.16it/s]
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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 19
-{
-    "Log_Likelihood": 17.127566286087035,
-    "Loss": -17.127566286087035,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 36012.19756414922,
-    "Time_Data_Loading": 0.021908438205718993,
-    "Time_Epoch": 0.4561939438184102,
-    "Time_Log_Info": 0.010399095217386882,
-    "Time_Process_Batch": 0.021947769323984782,
-    "Time_Train_Batch": 0.3991424004236857
-}
-
-Epoch 19 Memory Usage: 3121 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:11,  3.79it/s]
  1%|          | 3/500 [00:00<00:53,  9.30it/s]
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-Train Epoch 20
-{
-    "Log_Likelihood": 17.136114625930787,
-    "Loss": -17.136114625930787,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 35251.77940913035,
-    "Time_Data_Loading": 0.02311720053354899,
-    "Time_Epoch": 0.45703415473302206,
-    "Time_Log_Info": 0.010388831297556559,
-    "Time_Process_Batch": 0.02200013001759847,
-    "Time_Train_Batch": 0.3986812392870585
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_20.pth
-
-Epoch 20 Memory Usage: 3127 MB
-
-
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 99%|#########8| 493/500 [00:26<00:00, 18.63it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.63it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.55it/s]
100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 21
-{
-    "Log_Likelihood": 17.200567012786866,
-    "Loss": -17.200567012786866,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 33977.0268522055,
-    "Time_Data_Loading": 0.022631279627482095,
-    "Time_Epoch": 0.4574179450670878,
-    "Time_Log_Info": 0.010374852021535238,
-    "Time_Process_Batch": 0.02217864195505778,
-    "Time_Train_Batch": 0.39925328890482586
-}
-
-Epoch 21 Memory Usage: 3128 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:54,  4.37it/s]
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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 22
-{
-    "Log_Likelihood": 17.284810108184814,
-    "Loss": -17.284810108184814,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 32353.246307270823,
-    "Time_Data_Loading": 0.022290635108947753,
-    "Time_Epoch": 0.45665158828099567,
-    "Time_Log_Info": 0.010380319754282634,
-    "Time_Process_Batch": 0.02223732074101766,
-    "Time_Train_Batch": 0.3988379995028178
-}
-
-Epoch 22 Memory Usage: 3129 MB
-
-
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  7%|6         | 33/500 [00:01<00:25, 18.62it/s]
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  7%|7         | 37/500 [00:02<00:24, 18.57it/s]
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 10%|9         | 49/500 [00:02<00:24, 18.67it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.37it/s]
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 13%|#3        | 65/500 [00:03<00:23, 18.43it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.48it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.18it/s]
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 16%|#5        | 79/500 [00:04<00:22, 18.31it/s]
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 17%|#6        | 83/500 [00:04<00:22, 18.24it/s]
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 17%|#7        | 87/500 [00:04<00:22, 18.42it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.37it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.48it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.69it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.40it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.46it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.51it/s]
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 23%|##3       | 115/500 [00:06<00:20, 18.55it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.64it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.61it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.47it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.57it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.53it/s]
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 29%|##8       | 143/500 [00:07<00:19, 18.50it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.52it/s]
 31%|###       | 153/500 [00:08<00:18, 18.50it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.59it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.57it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.55it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.54it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.57it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.49it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.58it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.57it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.59it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.57it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.61it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.61it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.57it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.63it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.47it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.48it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.57it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.49it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.51it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.46it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.32it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.54it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.52it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.71it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 23
-{
-    "Log_Likelihood": 17.33815905189514,
-    "Loss": -17.33815905189514,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 30439.899831140614,
-    "Time_Data_Loading": 0.022516544659932455,
-    "Time_Epoch": 0.45614858468373615,
-    "Time_Log_Info": 0.010366694132486979,
-    "Time_Process_Batch": 0.021978139877319336,
-    "Time_Train_Batch": 0.3984119176864624
-}
-
-Epoch 23 Memory Usage: 3128 MB
-
-
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  0%|          | 1/500 [00:00<02:00,  4.13it/s]
  1%|          | 3/500 [00:00<00:50,  9.88it/s]
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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, 18.50it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.53it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 24
-{
-    "Log_Likelihood": 17.332689811706544,
-    "Loss": -17.332689811706544,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 29326.444439634637,
-    "Time_Data_Loading": 0.022205936908721923,
-    "Time_Epoch": 0.4564407269159953,
-    "Time_Log_Info": 0.010363797346750895,
-    "Time_Process_Batch": 0.02230511506398519,
-    "Time_Train_Batch": 0.39876267512639363
-}
-
-Epoch 24 Memory Usage: 3128 MB
-
-
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 70%|#######   | 351/500 [00:19<00:08, 18.60it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.55it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.49it/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 25
-{
-    "Log_Likelihood": 17.35608960723877,
-    "Loss": -17.35608960723877,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 30173.778895891137,
-    "Time_Data_Loading": 0.02219413916269938,
-    "Time_Epoch": 0.45614854494730633,
-    "Time_Log_Info": 0.010382596651713054,
-    "Time_Process_Batch": 0.02180824279785156,
-    "Time_Train_Batch": 0.39864402214686073
-}
-
-Epoch 25 Memory Usage: 3129 MB
-
-
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  1%|          | 3/500 [00:00<00:50,  9.92it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.29it/s]
-Train Epoch 26
-{
-    "Log_Likelihood": 17.409752702713014,
-    "Loss": -17.409752702713014,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 30154.732573064,
-    "Time_Data_Loading": 0.02404839595158895,
-    "Time_Epoch": 0.4581261118253072,
-    "Time_Log_Info": 0.010345065593719482,
-    "Time_Process_Batch": 0.022019592920939128,
-    "Time_Train_Batch": 0.39879996379216515
-}
-
-Epoch 26 Memory Usage: 3129 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 27
-{
-    "Log_Likelihood": 17.453491819381714,
-    "Loss": -17.453491819381714,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 27862.93485634122,
-    "Time_Data_Loading": 0.023646748065948485,
-    "Time_Epoch": 0.4576905290285746,
-    "Time_Log_Info": 0.010373226801554362,
-    "Time_Process_Batch": 0.02206016778945923,
-    "Time_Train_Batch": 0.39867090781529746
-}
-
-Epoch 27 Memory Usage: 3129 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.42it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 28
-{
-    "Log_Likelihood": 17.51460787963867,
-    "Loss": -17.51460787963867,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 26353.689399252064,
-    "Time_Data_Loading": 0.023428102334340412,
-    "Time_Epoch": 0.45751049121220905,
-    "Time_Log_Info": 0.0103903333346049,
-    "Time_Process_Batch": 0.022392602761586507,
-    "Time_Train_Batch": 0.39845178922017416
-}
-
-Epoch 28 Memory Usage: 3130 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 29
-{
-    "Log_Likelihood": 17.5458662109375,
-    "Loss": -17.5458662109375,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 24745.092872019297,
-    "Time_Data_Loading": 0.022576141357421874,
-    "Time_Epoch": 0.4569129228591919,
-    "Time_Log_Info": 0.010382362206776937,
-    "Time_Process_Batch": 0.022067097822825114,
-    "Time_Train_Batch": 0.3986755132675171
-}
-
-Epoch 29 Memory Usage: 3130 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 30
-{
-    "Log_Likelihood": 17.559966358184816,
-    "Loss": -17.559966358184816,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 26436.258635389782,
-    "Time_Data_Loading": 0.022801458835601807,
-    "Time_Epoch": 0.457005774974823,
-    "Time_Log_Info": 0.010390043258666992,
-    "Time_Process_Batch": 0.022207105159759523,
-    "Time_Train_Batch": 0.3984939058621724
-}
-
-Epoch 30 Memory Usage: 3131 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:02,  4.09it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 31
-{
-    "Log_Likelihood": 17.61054935455322,
-    "Loss": -17.61054935455322,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 21889.302493360643,
-    "Time_Data_Loading": 0.02284979820251465,
-    "Time_Epoch": 0.4572813669840495,
-    "Time_Log_Info": 0.01030047337214152,
-    "Time_Process_Batch": 0.0223243514696757,
-    "Time_Train_Batch": 0.3987607796986898
-}
-
-Epoch 31 Memory Usage: 3131 MB
-
-
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  2%|2         | 11/500 [00:00<00:28, 16.87it/s]
  3%|2         | 13/500 [00:00<00:28, 17.15it/s]
  3%|3         | 15/500 [00:00<00:27, 17.68it/s]
  3%|3         | 17/500 [00:01<00:26, 17.90it/s]
  4%|3         | 19/500 [00:01<00:26, 18.13it/s]
  4%|4         | 21/500 [00:01<00:26, 18.18it/s]
  5%|4         | 23/500 [00:01<00:26, 18.33it/s]
  5%|5         | 25/500 [00:01<00:25, 18.44it/s]
  5%|5         | 27/500 [00:01<00:25, 18.52it/s]
  6%|5         | 29/500 [00:01<00:25, 18.35it/s]
  6%|6         | 31/500 [00:01<00:25, 18.42it/s]
  7%|6         | 33/500 [00:01<00:25, 18.52it/s]
  7%|7         | 35/500 [00:02<00:25, 18.60it/s]
  7%|7         | 37/500 [00:02<00:25, 18.45it/s]
  8%|7         | 39/500 [00:02<00:24, 18.49it/s]
  8%|8         | 41/500 [00:02<00:24, 18.48it/s]
  9%|8         | 43/500 [00:02<00:24, 18.54it/s]
  9%|9         | 45/500 [00:02<00:24, 18.57it/s]
  9%|9         | 47/500 [00:02<00:24, 18.61it/s]
 10%|9         | 49/500 [00:02<00:24, 18.65it/s]
 10%|#         | 51/500 [00:02<00:24, 18.65it/s]
 11%|#         | 53/500 [00:03<00:23, 18.64it/s]
 11%|#1        | 55/500 [00:03<00:23, 18.59it/s]
 11%|#1        | 57/500 [00:03<00:23, 18.61it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.60it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.50it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.55it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.63it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.64it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.57it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.57it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.53it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.50it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.46it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.61it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.60it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.70it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.66it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.49it/s]
 18%|#7        | 89/500 [00:04<00:22, 18.47it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.50it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.50it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.54it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.60it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.61it/s]
 20%|##        | 101/500 [00:05<00:21, 18.65it/s]
 21%|##        | 103/500 [00:05<00:21, 18.64it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.67it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.62it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.60it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.53it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.65it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.70it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.60it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.62it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.52it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.50it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.48it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.28it/s]
 26%|##5       | 129/500 [00:07<00:20, 18.36it/s]
 26%|##6       | 131/500 [00:07<00:20, 18.24it/s]
 27%|##6       | 133/500 [00:07<00:19, 18.41it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.42it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.33it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.40it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.44it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.47it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.26it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.33it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.38it/s]
 30%|###       | 151/500 [00:08<00:18, 18.42it/s]
 31%|###       | 153/500 [00:08<00:18, 18.41it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.33it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.43it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.39it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.51it/s]
 33%|###2      | 163/500 [00:08<00:18, 18.46it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.49it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.46it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.51it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.47it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.50it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.41it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.44it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.38it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.49it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.47it/s]
 37%|###7      | 185/500 [00:10<00:17, 18.50it/s]
 37%|###7      | 187/500 [00:10<00:16, 18.41it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.42it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.32it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.47it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.44it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.47it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.48it/s]
 40%|####      | 201/500 [00:11<00:16, 18.19it/s]
 41%|####      | 203/500 [00:11<00:16, 18.23it/s]
 41%|####1     | 205/500 [00:11<00:16, 18.22it/s]
 41%|####1     | 207/500 [00:11<00:15, 18.34it/s]
 42%|####1     | 209/500 [00:11<00:15, 18.35it/s]
 42%|####2     | 211/500 [00:11<00:15, 18.33it/s]
 43%|####2     | 213/500 [00:11<00:15, 18.29it/s]
 43%|####3     | 215/500 [00:11<00:15, 18.38it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.51it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.53it/s]
 44%|####4     | 221/500 [00:12<00:15, 18.44it/s]
 45%|####4     | 223/500 [00:12<00:15, 18.42it/s]
 45%|####5     | 225/500 [00:12<00:14, 18.39it/s]
 45%|####5     | 227/500 [00:12<00:14, 18.43it/s]
 46%|####5     | 229/500 [00:12<00:14, 18.48it/s]
 46%|####6     | 231/500 [00:12<00:14, 18.59it/s]
 47%|####6     | 233/500 [00:12<00:14, 18.59it/s]
 47%|####6     | 235/500 [00:12<00:14, 18.55it/s]
 47%|####7     | 237/500 [00:13<00:14, 18.50it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.53it/s]
 48%|####8     | 241/500 [00:13<00:13, 18.53it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.49it/s]
 49%|####9     | 245/500 [00:13<00:13, 18.52it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.55it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.55it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.48it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.48it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.49it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.49it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.33it/s]
 52%|#####2    | 261/500 [00:14<00:13, 18.37it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.35it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.28it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.34it/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 [00:14<00:12, 18.47it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.48it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.51it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.51it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.42it/s]
 57%|#####6    | 283/500 [00:15<00:11, 18.48it/s]
 57%|#####6    | 285/500 [00:15<00:11, 18.35it/s]
 57%|#####7    | 287/500 [00:15<00:11, 18.41it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.37it/s]
 58%|#####8    | 291/500 [00:15<00:11, 18.37it/s]
 59%|#####8    | 293/500 [00:16<00:11, 18.46it/s]
 59%|#####8    | 295/500 [00:16<00:11, 18.49it/s]
 59%|#####9    | 297/500 [00:16<00:10, 18.47it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.49it/s]
 60%|######    | 301/500 [00:16<00:10, 18.36it/s]
 61%|######    | 303/500 [00:16<00:10, 18.38it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.37it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.34it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.15it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.30it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.35it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.47it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.33it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.33it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.39it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.43it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.41it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.40it/s]
 66%|######5   | 329/500 [00:17<00:09, 18.47it/s]
 66%|######6   | 331/500 [00:18<00:09, 18.34it/s]
 67%|######6   | 333/500 [00:18<00:09, 18.44it/s]
 67%|######7   | 335/500 [00:18<00:09, 18.19it/s]
 67%|######7   | 337/500 [00:18<00:08, 18.37it/s]
 68%|######7   | 339/500 [00:18<00:08, 18.29it/s]
 68%|######8   | 341/500 [00:18<00:08, 18.30it/s]
 69%|######8   | 343/500 [00:18<00:08, 18.38it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.40it/s]
 69%|######9   | 347/500 [00:18<00:08, 18.48it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.50it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.49it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.57it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.50it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.61it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.60it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.67it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.61it/s]
 73%|#######3  | 365/500 [00:19<00:07, 18.61it/s]
 73%|#######3  | 367/500 [00:20<00:07, 18.65it/s]
 74%|#######3  | 369/500 [00:20<00:07, 18.67it/s]
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 75%|#######5  | 377/500 [00:20<00:06, 18.61it/s]
 76%|#######5  | 379/500 [00:20<00:06, 18.66it/s]
 76%|#######6  | 381/500 [00:20<00:06, 18.67it/s]
 77%|#######6  | 383/500 [00:20<00:06, 18.66it/s]
 77%|#######7  | 385/500 [00:21<00:06, 18.67it/s]
 77%|#######7  | 387/500 [00:21<00:06, 18.55it/s]
 78%|#######7  | 389/500 [00:21<00:05, 18.64it/s]
 78%|#######8  | 391/500 [00:21<00:05, 18.57it/s]
 79%|#######8  | 393/500 [00:21<00:05, 18.62it/s]
 79%|#######9  | 395/500 [00:21<00:05, 18.60it/s]
 79%|#######9  | 397/500 [00:21<00:05, 18.58it/s]
 80%|#######9  | 399/500 [00:21<00:05, 18.51it/s]
 80%|########  | 401/500 [00:21<00:05, 18.51it/s]
 81%|########  | 403/500 [00:21<00:05, 18.60it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.55it/s]
 81%|########1 | 407/500 [00:22<00:05, 18.58it/s]
 82%|########1 | 409/500 [00:22<00:04, 18.54it/s]
 82%|########2 | 411/500 [00:22<00:04, 18.57it/s]
 83%|########2 | 413/500 [00:22<00:04, 18.56it/s]
 83%|########2 | 415/500 [00:22<00:04, 18.57it/s]
 83%|########3 | 417/500 [00:22<00:04, 18.48it/s]
 84%|########3 | 419/500 [00:22<00:04, 18.50it/s]
 84%|########4 | 421/500 [00:22<00:04, 18.54it/s]
 85%|########4 | 423/500 [00:23<00:04, 18.56it/s]
 85%|########5 | 425/500 [00:23<00:04, 18.52it/s]
 85%|########5 | 427/500 [00:23<00:03, 18.38it/s]
 86%|########5 | 429/500 [00:23<00:03, 18.34it/s]
 86%|########6 | 431/500 [00:23<00:03, 18.26it/s]
 87%|########6 | 433/500 [00:23<00:03, 18.18it/s]
 87%|########7 | 435/500 [00:23<00:03, 18.21it/s]
 87%|########7 | 437/500 [00:23<00:03, 18.22it/s]
 88%|########7 | 439/500 [00:23<00:03, 18.20it/s]
 88%|########8 | 441/500 [00:24<00:03, 18.22it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.25it/s]
 89%|########9 | 445/500 [00:24<00:02, 18.34it/s]
 89%|########9 | 447/500 [00:24<00:02, 18.26it/s]
 90%|########9 | 449/500 [00:24<00:02, 18.30it/s]
 90%|######### | 451/500 [00:24<00:02, 18.44it/s]
 91%|######### | 453/500 [00:24<00:02, 18.44it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.45it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.42it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.46it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.49it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.40it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.43it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.43it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.45it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.51it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.48it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.39it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.25it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.35it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.41it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.47it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.39it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.55it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.48it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.51it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.45it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.44it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.54it/s]
100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 32
-{
-    "Log_Likelihood": 17.694797800064087,
-    "Loss": -17.694797800064087,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 23836.080524018787,
-    "Time_Data_Loading": 0.022451186180114747,
-    "Time_Epoch": 0.4565858046213786,
-    "Time_Log_Info": 0.010298168659210205,
-    "Time_Process_Batch": 0.02198427120844523,
-    "Time_Train_Batch": 0.3989272316296895
-}
-
-Epoch 32 Memory Usage: 3131 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:01,  4.09it/s]
  1%|          | 3/500 [00:00<00:51,  9.70it/s]
  1%|1         | 5/500 [00:00<00:38, 12.90it/s]
  1%|1         | 7/500 [00:00<00:33, 14.87it/s]
  2%|1         | 9/500 [00:00<00:30, 16.05it/s]
  2%|2         | 11/500 [00:00<00:29, 16.82it/s]
  3%|2         | 13/500 [00:00<00:28, 17.36it/s]
  3%|3         | 15/500 [00:00<00:27, 17.79it/s]
  3%|3         | 17/500 [00:01<00:26, 18.07it/s]
  4%|3         | 19/500 [00:01<00:26, 18.17it/s]
  4%|4         | 21/500 [00:01<00:26, 18.35it/s]
  5%|4         | 23/500 [00:01<00:25, 18.42it/s]
  5%|5         | 25/500 [00:01<00:26, 18.25it/s]
  5%|5         | 27/500 [00:01<00:25, 18.35it/s]
  6%|5         | 29/500 [00:01<00:25, 18.38it/s]
  6%|6         | 31/500 [00:01<00:25, 18.47it/s]
  7%|6         | 33/500 [00:01<00:25, 18.44it/s]
  7%|7         | 35/500 [00:02<00:25, 18.53it/s]
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  8%|7         | 39/500 [00:02<00:24, 18.45it/s]
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 10%|#         | 51/500 [00:02<00:24, 18.48it/s]
 11%|#         | 53/500 [00:03<00:24, 18.30it/s]
 11%|#1        | 55/500 [00:03<00:24, 18.42it/s]
 11%|#1        | 57/500 [00:03<00:23, 18.48it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.45it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.38it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.40it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.33it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.42it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.50it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.52it/s]
 15%|#4        | 73/500 [00:04<00:22, 18.61it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.52it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.52it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.47it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.28it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.44it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.39it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.51it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.57it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.45it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.49it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.56it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.54it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.51it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.58it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.54it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.60it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.65it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.45it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.47it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.42it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.41it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.33it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.46it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.54it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.46it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.36it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.46it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.44it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.47it/s]
 31%|###       | 153/500 [00:08<00:18, 18.26it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.21it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.34it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.47it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.46it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.54it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.40it/s]
 34%|###3      | 169/500 [00:09<00:18, 18.26it/s]
 34%|###4      | 171/500 [00:09<00:18, 18.24it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.25it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.36it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.52it/s]
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 43%|####3     | 217/500 [00:11<00:15, 18.63it/s]
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 48%|####7     | 239/500 [00:13<00:14, 18.51it/s]
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 49%|####8     | 243/500 [00:13<00:13, 18.52it/s]
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 49%|####9     | 247/500 [00:13<00:13, 18.51it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.56it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.40it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.48it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.46it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.63it/s]
 52%|#####1    | 259/500 [00:14<00:12, 18.57it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.54it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.47it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.50it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.45it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.41it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.30it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.27it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.41it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.42it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.43it/s]
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 59%|#####9    | 297/500 [00:16<00:10, 18.53it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.54it/s]
 61%|######    | 303/500 [00:16<00:10, 18.57it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.50it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.53it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.50it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.57it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.55it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.50it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.47it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.36it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.38it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.47it/s]
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 65%|######5   | 327/500 [00:17<00:09, 18.52it/s]
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 69%|######8   | 343/500 [00:18<00:08, 18.28it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.39it/s]
 69%|######9   | 347/500 [00:18<00:08, 18.41it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.47it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.54it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.37it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.43it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.50it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.51it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.50it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.48it/s]
 81%|########  | 403/500 [00:22<00:05, 18.51it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.55it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.62it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.55it/s]
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 92%|#########1| 459/500 [00:25<00:02, 18.49it/s]
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 93%|#########2| 463/500 [00:25<00:01, 18.56it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.65it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.63it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.64it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.54it/s]
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 95%|#########5| 477/500 [00:25<00:01, 18.51it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.35it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.46it/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, 18.61it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.51it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.52it/s]
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 99%|#########9| 495/500 [00:26<00:00, 18.50it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.46it/s]
100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 33
-{
-    "Log_Likelihood": 17.72393956375122,
-    "Loss": -17.72393956375122,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 23181.231853819878,
-    "Time_Data_Loading": 0.02232891321182251,
-    "Time_Epoch": 0.4563974618911743,
-    "Time_Log_Info": 0.010272379716237385,
-    "Time_Process_Batch": 0.021923657258351645,
-    "Time_Train_Batch": 0.3988511363665263
-}
-
-Epoch 33 Memory Usage: 3131 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:00,  4.15it/s]
  1%|          | 3/500 [00:00<00:51,  9.72it/s]
  1%|1         | 5/500 [00:00<00:38, 12.92it/s]
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  3%|2         | 13/500 [00:00<00:28, 17.35it/s]
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 23%|##3       | 115/500 [00:06<00:21, 18.18it/s]
 23%|##3       | 117/500 [00:06<00:21, 18.22it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.29it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.42it/s]
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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 34
-{
-    "Log_Likelihood": 17.74301747894287,
-    "Loss": -17.74301747894287,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 20485.54316513814,
-    "Time_Data_Loading": 0.02232650915781657,
-    "Time_Epoch": 0.45587684313456217,
-    "Time_Log_Info": 0.010269085566202799,
-    "Time_Process_Batch": 0.022014753023783366,
-    "Time_Train_Batch": 0.3982805331548055
-}
-
-Epoch 34 Memory Usage: 3131 MB
-
-
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 70%|#######   | 351/500 [00:19<00:08, 18.37it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.47it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 35
-{
-    "Log_Likelihood": 17.792304382324218,
-    "Loss": -17.792304382324218,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 22147.413948406782,
-    "Time_Data_Loading": 0.02333517869313558,
-    "Time_Epoch": 0.4576411803563436,
-    "Time_Log_Info": 0.010258801778157552,
-    "Time_Process_Batch": 0.02213304042816162,
-    "Time_Train_Batch": 0.3988792618115743
-}
-
-Epoch 35 Memory Usage: 3133 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 36
-{
-    "Log_Likelihood": 17.853324123382567,
-    "Loss": -17.853324123382567,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 20689.882261774703,
-    "Time_Data_Loading": 0.022690598169962564,
-    "Time_Epoch": 0.4567927281061808,
-    "Time_Log_Info": 0.010252785682678223,
-    "Time_Process_Batch": 0.0221311887105306,
-    "Time_Train_Batch": 0.3988206585248311
-}
-
-Epoch 36 Memory Usage: 3132 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 37
-{
-    "Log_Likelihood": 17.87101354598999,
-    "Loss": -17.87101354598999,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 19317.958007467205,
-    "Time_Data_Loading": 0.021268053849538168,
-    "Time_Epoch": 0.45456777811050414,
-    "Time_Log_Info": 0.010263951619466145,
-    "Time_Process_Batch": 0.021822198232014974,
-    "Time_Train_Batch": 0.3983207186063131
-}
-
-Epoch 37 Memory Usage: 3132 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 38
-{
-    "Log_Likelihood": 17.858335906982422,
-    "Loss": -17.858335906982422,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 19172.18790993981,
-    "Time_Data_Loading": 0.02285324732462565,
-    "Time_Epoch": 0.4575298388799032,
-    "Time_Log_Info": 0.010256556669871013,
-    "Time_Process_Batch": 0.022414020697275796,
-    "Time_Train_Batch": 0.39906358321507773
-}
-
-Epoch 38 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, 18.36it/s]
-Train Epoch 39
-{
-    "Log_Likelihood": 17.9128194732666,
-    "Loss": -17.9128194732666,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 18616.497616972614,
-    "Time_Data_Loading": 0.02206922769546509,
-    "Time_Epoch": 0.4564090649286906,
-    "Time_Log_Info": 0.01026140054066976,
-    "Time_Process_Batch": 0.022240936756134033,
-    "Time_Train_Batch": 0.39888684352238973
-}
-
-Epoch 39 Memory Usage: 3133 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 40
-{
-    "Log_Likelihood": 17.961615531921385,
-    "Loss": -17.961615531921385,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 18237.815825956903,
-    "Time_Data_Loading": 0.02283869981765747,
-    "Time_Epoch": 0.45702191988627117,
-    "Time_Log_Info": 0.010264778137207031,
-    "Time_Process_Batch": 0.022239474455515544,
-    "Time_Train_Batch": 0.39883401393890383
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_40.pth
-
-Epoch 40 Memory Usage: 3138 MB
-
-
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-Train Epoch 41
-{
-    "Log_Likelihood": 17.957154705047607,
-    "Loss": -17.957154705047607,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 17607.60963264613,
-    "Time_Data_Loading": 0.022794886430104574,
-    "Time_Epoch": 0.4568265438079834,
-    "Time_Log_Info": 0.010268966356913248,
-    "Time_Process_Batch": 0.02195078134536743,
-    "Time_Train_Batch": 0.39890194733937584
-}
-
-Epoch 41 Memory Usage: 3138 MB
-
-
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 10%|9         | 49/500 [00:02<00:24, 18.47it/s]
 10%|#         | 51/500 [00:02<00:24, 18.43it/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, 18.55it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.65it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.56it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.55it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.43it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.43it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.37it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.38it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.34it/s]
 15%|#5        | 75/500 [00:04<00:23, 18.39it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.48it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.35it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.38it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.37it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.41it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.24it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.12it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.30it/s]
 19%|#8        | 93/500 [00:05<00:22, 18.36it/s]
 19%|#9        | 95/500 [00:05<00:22, 18.41it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.40it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.47it/s]
 20%|##        | 101/500 [00:05<00:21, 18.48it/s]
 21%|##        | 103/500 [00:05<00:21, 18.50it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.45it/s]
 21%|##1       | 107/500 [00:06<00:21, 18.30it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.27it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.43it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.55it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.46it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.37it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.50it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.51it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.42it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.42it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.50it/s]
 26%|##5       | 129/500 [00:07<00:20, 18.48it/s]
 26%|##6       | 131/500 [00:07<00:19, 18.55it/s]
 27%|##6       | 133/500 [00:07<00:19, 18.58it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.42it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.36it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.31it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.32it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.32it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.36it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.41it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.40it/s]
 30%|###       | 151/500 [00:08<00:18, 18.50it/s]
 31%|###       | 153/500 [00:08<00:18, 18.45it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.34it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.37it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.41it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.40it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.48it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.50it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.57it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.57it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.65it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.54it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.56it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.48it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.34it/s]
 36%|###6      | 181/500 [00:10<00:17, 18.30it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.50it/s]
 37%|###7      | 185/500 [00:10<00:17, 18.50it/s]
 37%|###7      | 187/500 [00:10<00:16, 18.45it/s]
 38%|###7      | 189/500 [00:10<00:17, 18.29it/s]
 38%|###8      | 191/500 [00:10<00:17, 18.14it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.25it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.33it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.37it/s]
 40%|###9      | 199/500 [00:11<00:16, 18.38it/s]
 40%|####      | 201/500 [00:11<00:16, 18.47it/s]
 41%|####      | 203/500 [00:11<00:16, 18.54it/s]
 41%|####1     | 205/500 [00:11<00:15, 18.61it/s]
 41%|####1     | 207/500 [00:11<00:15, 18.62it/s]
 42%|####1     | 209/500 [00:11<00:15, 18.53it/s]
 42%|####2     | 211/500 [00:11<00:15, 18.54it/s]
 43%|####2     | 213/500 [00:11<00:15, 18.59it/s]
 43%|####3     | 215/500 [00:11<00:15, 18.58it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.59it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.60it/s]
 44%|####4     | 221/500 [00:12<00:14, 18.61it/s]
 45%|####4     | 223/500 [00:12<00:14, 18.60it/s]
 45%|####5     | 225/500 [00:12<00:14, 18.60it/s]
 45%|####5     | 227/500 [00:12<00:14, 18.51it/s]
 46%|####5     | 229/500 [00:12<00:14, 18.47it/s]
 46%|####6     | 231/500 [00:12<00:14, 18.52it/s]
 47%|####6     | 233/500 [00:12<00:14, 18.56it/s]
 47%|####6     | 235/500 [00:12<00:14, 18.43it/s]
 47%|####7     | 237/500 [00:13<00:14, 18.51it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.51it/s]
 48%|####8     | 241/500 [00:13<00:13, 18.58it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.55it/s]
 49%|####9     | 245/500 [00:13<00:13, 18.42it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.36it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.31it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.44it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.24it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.39it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.47it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.53it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.54it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.50it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.37it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.44it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.45it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.46it/s]
 55%|#####4    | 273/500 [00:15<00:12, 18.52it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.40it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.35it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.46it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.42it/s]
 57%|#####6    | 283/500 [00:15<00:11, 18.41it/s]
 57%|#####6    | 285/500 [00:15<00:11, 18.37it/s]
 57%|#####7    | 287/500 [00:15<00:11, 18.43it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.46it/s]
 58%|#####8    | 291/500 [00:15<00:11, 18.41it/s]
 59%|#####8    | 293/500 [00:16<00:11, 18.52it/s]
 59%|#####8    | 295/500 [00:16<00:11, 18.50it/s]
 59%|#####9    | 297/500 [00:16<00:10, 18.60it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.57it/s]
 60%|######    | 301/500 [00:16<00:10, 18.66it/s]
 61%|######    | 303/500 [00:16<00:10, 18.54it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.55it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.51it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.55it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.47it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.63it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.52it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.61it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.42it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.50it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.32it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.40it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.34it/s]
 66%|######5   | 329/500 [00:18<00:09, 18.48it/s]
 66%|######6   | 331/500 [00:18<00:09, 18.53it/s]
 67%|######6   | 333/500 [00:18<00:09, 18.49it/s]
 67%|######7   | 335/500 [00:18<00:08, 18.60it/s]
 67%|######7   | 337/500 [00:18<00:08, 18.59it/s]
 68%|######7   | 339/500 [00:18<00:08, 18.70it/s]
 68%|######8   | 341/500 [00:18<00:08, 18.56it/s]
 69%|######8   | 343/500 [00:18<00:08, 18.63it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.37it/s]
 69%|######9   | 347/500 [00:19<00:08, 18.52it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.54it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.55it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.35it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.44it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.26it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.38it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.33it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.42it/s]
 73%|#######3  | 365/500 [00:19<00:07, 18.48it/s]
 73%|#######3  | 367/500 [00:20<00:07, 18.45it/s]
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 77%|#######7  | 385/500 [00:21<00:06, 18.37it/s]
 77%|#######7  | 387/500 [00:21<00:06, 18.13it/s]
 78%|#######7  | 389/500 [00:21<00:06, 18.23it/s]
 78%|#######8  | 391/500 [00:21<00:05, 18.19it/s]
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 80%|#######9  | 399/500 [00:21<00:05, 18.46it/s]
 80%|########  | 401/500 [00:21<00:05, 18.47it/s]
 81%|########  | 403/500 [00:22<00:05, 18.53it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.55it/s]
 81%|########1 | 407/500 [00:22<00:05, 18.54it/s]
 82%|########1 | 409/500 [00:22<00:04, 18.58it/s]
 82%|########2 | 411/500 [00:22<00:04, 18.54it/s]
 83%|########2 | 413/500 [00:22<00:04, 18.64it/s]
 83%|########2 | 415/500 [00:22<00:04, 18.58it/s]
 83%|########3 | 417/500 [00:22<00:04, 18.62it/s]
 84%|########3 | 419/500 [00:22<00:04, 18.57it/s]
 84%|########4 | 421/500 [00:23<00:04, 18.44it/s]
 85%|########4 | 423/500 [00:23<00:04, 18.45it/s]
 85%|########5 | 425/500 [00:23<00:04, 18.49it/s]
 85%|########5 | 427/500 [00:23<00:03, 18.50it/s]
 86%|########5 | 429/500 [00:23<00:03, 18.54it/s]
 86%|########6 | 431/500 [00:23<00:03, 18.58it/s]
 87%|########6 | 433/500 [00:23<00:03, 18.36it/s]
 87%|########7 | 435/500 [00:23<00:03, 18.37it/s]
 87%|########7 | 437/500 [00:23<00:03, 18.47it/s]
 88%|########7 | 439/500 [00:24<00:03, 18.30it/s]
 88%|########8 | 441/500 [00:24<00:03, 18.45it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.33it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.29it/s]
 91%|######### | 453/500 [00:24<00:02, 18.40it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.42it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.53it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.47it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.57it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.58it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.35it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.33it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.47it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.47it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.54it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.54it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.51it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.65it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.66it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.58it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.39it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.43it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.51it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.46it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.42it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.39it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.46it/s]
100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 42
-{
-    "Log_Likelihood": 18.02402447128296,
-    "Loss": -18.02402447128296,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 17103.592757513186,
-    "Time_Data_Loading": 0.023080066839853922,
-    "Time_Epoch": 0.45754706462224326,
-    "Time_Log_Info": 0.010233799616495768,
-    "Time_Process_Batch": 0.022294886906941733,
-    "Time_Train_Batch": 0.3990561842918396
-}
-
-Epoch 42 Memory Usage: 3138 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:11,  3.78it/s]
  1%|          | 3/500 [00:00<00:53,  9.24it/s]
  1%|1         | 5/500 [00:00<00:39, 12.44it/s]
  1%|1         | 7/500 [00:00<00:34, 14.39it/s]
  2%|1         | 9/500 [00:00<00:31, 15.78it/s]
  2%|2         | 11/500 [00:00<00:29, 16.57it/s]
  3%|2         | 13/500 [00:00<00:28, 17.24it/s]
  3%|3         | 15/500 [00:01<00:27, 17.39it/s]
  3%|3         | 17/500 [00:01<00:27, 17.68it/s]
  4%|3         | 19/500 [00:01<00:26, 18.09it/s]
  4%|4         | 21/500 [00:01<00:26, 18.27it/s]
  5%|4         | 23/500 [00:01<00:25, 18.50it/s]
  5%|5         | 25/500 [00:01<00:25, 18.44it/s]
  5%|5         | 27/500 [00:01<00:25, 18.67it/s]
  6%|5         | 29/500 [00:01<00:25, 18.51it/s]
  6%|6         | 31/500 [00:01<00:25, 18.75it/s]
  7%|6         | 33/500 [00:01<00:26, 17.95it/s]
  7%|7         | 35/500 [00:02<00:25, 18.16it/s]
  7%|7         | 37/500 [00:02<00:25, 18.28it/s]
  8%|7         | 39/500 [00:02<00:25, 18.41it/s]
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 10%|#         | 51/500 [00:02<00:24, 18.42it/s]
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 11%|#1        | 55/500 [00:03<00:23, 18.56it/s]
 11%|#1        | 57/500 [00:03<00:23, 18.53it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.49it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.49it/s]
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 13%|#3        | 65/500 [00:03<00:23, 18.40it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.48it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.40it/s]
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 15%|#4        | 73/500 [00:04<00:23, 18.49it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.53it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.57it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.68it/s]
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 17%|#7        | 87/500 [00:04<00:22, 18.65it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.53it/s]
 21%|##        | 103/500 [00:05<00:21, 18.49it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.64it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.39it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.54it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.55it/s]
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 24%|##3       | 119/500 [00:06<00:20, 18.54it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.67it/s]
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 35%|###4      | 173/500 [00:09<00:17, 18.66it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.61it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.66it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.62it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.67it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.59it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.51it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.63it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.65it/s]
 62%|######2   | 311/500 [00:16<00:10, 18.61it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.60it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.56it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.53it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.54it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.03it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.19it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.25it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.37it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.29it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.58it/s]
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 96%|#########6| 481/500 [00:26<00:01, 18.50it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.48it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.43it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.20it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 43
-{
-    "Log_Likelihood": 18.071418575286867,
-    "Loss": -18.071418575286867,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 14973.558389266585,
-    "Time_Data_Loading": 0.02265803813934326,
-    "Time_Epoch": 0.4561474998792013,
-    "Time_Log_Info": 0.010265998045603434,
-    "Time_Process_Batch": 0.0219964067141215,
-    "Time_Train_Batch": 0.3980840802192688
-}
-
-Epoch 43 Memory Usage: 3138 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:04,  4.01it/s]
  1%|          | 3/500 [00:00<00:51,  9.58it/s]
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 22%|##2       | 111/500 [00:06<00:20, 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, 18.49it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 44
-{
-    "Log_Likelihood": 18.066382732391357,
-    "Loss": -18.066382732391357,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 15567.559973722704,
-    "Time_Data_Loading": 0.02297945022583008,
-    "Time_Epoch": 0.45699413220087687,
-    "Time_Log_Info": 0.010261877377827962,
-    "Time_Process_Batch": 0.022316245237986247,
-    "Time_Train_Batch": 0.398321525255839
-}
-
-Epoch 44 Memory Usage: 3138 MB
-
-
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 70%|#######   | 351/500 [00:19<00:08, 18.39it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.39it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.43it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.47it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.41it/s]
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 81%|########1 | 405/500 [00:22<00:05, 18.47it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.15it/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, 18.34it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.42it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.50it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 45
-{
-    "Log_Likelihood": 18.096557888031008,
-    "Loss": -18.096557888031008,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 15900.47015872578,
-    "Time_Data_Loading": 0.02284503777821859,
-    "Time_Epoch": 0.4571294069290161,
-    "Time_Log_Info": 0.0102516770362854,
-    "Time_Process_Batch": 0.02228140433629354,
-    "Time_Train_Batch": 0.398834494749705
-}
-
-Epoch 45 Memory Usage: 3139 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:01,  4.12it/s]
  1%|          | 3/500 [00:00<00:51,  9.65it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.53it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.41it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.35it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 46
-{
-    "Log_Likelihood": 18.122963775634766,
-    "Loss": -18.122963775634766,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 15045.745516770658,
-    "Time_Data_Loading": 0.02334604263305664,
-    "Time_Epoch": 0.45777571201324463,
-    "Time_Log_Info": 0.010279003779093425,
-    "Time_Process_Batch": 0.022645970185597736,
-    "Time_Train_Batch": 0.3984048922856649
-}
-
-Epoch 46 Memory Usage: 3139 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:10,  3.83it/s]
  1%|          | 3/500 [00:00<00:53,  9.23it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.44it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.25it/s]
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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 47
-{
-    "Log_Likelihood": 18.11004888534546,
-    "Loss": -18.11004888534546,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 13818.235923584481,
-    "Time_Data_Loading": 0.02282211383183797,
-    "Time_Epoch": 0.45691845019658406,
-    "Time_Log_Info": 0.010250993569691976,
-    "Time_Process_Batch": 0.0222854216893514,
-    "Time_Train_Batch": 0.3986036936442057
-}
-
-Epoch 47 Memory Usage: 3140 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:05,  3.98it/s]
  1%|          | 3/500 [00:00<00:51,  9.59it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 48
-{
-    "Log_Likelihood": 18.180254333496094,
-    "Loss": -18.180254333496094,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 14838.546227847164,
-    "Time_Data_Loading": 0.02242588996887207,
-    "Time_Epoch": 0.45630741119384766,
-    "Time_Log_Info": 0.010274235407511394,
-    "Time_Process_Batch": 0.022078311443328856,
-    "Time_Train_Batch": 0.3984923998514811
-}
-
-Epoch 48 Memory Usage: 3140 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.34it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 49
-{
-    "Log_Likelihood": 18.241632530212403,
-    "Loss": -18.241632530212403,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 13238.714597405244,
-    "Time_Data_Loading": 0.024159550666809082,
-    "Time_Epoch": 0.4578941822052002,
-    "Time_Log_Info": 0.01026213566462199,
-    "Time_Process_Batch": 0.021926283836364746,
-    "Time_Train_Batch": 0.398480486869812
-}
-
-Epoch 49 Memory Usage: 3141 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 50
-{
-    "Log_Likelihood": 18.269753185272215,
-    "Loss": -18.269753185272215,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 13349.35917508452,
-    "Time_Data_Loading": 0.022436642646789552,
-    "Time_Epoch": 0.4560928702354431,
-    "Time_Log_Info": 0.010256155331929525,
-    "Time_Process_Batch": 0.02206904093424479,
-    "Time_Train_Batch": 0.3982512354850769
-}
-
-Epoch 50 Memory Usage: 3141 MB
-
-
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  5%|5         | 25/500 [00:01<00:25, 18.35it/s]
  5%|5         | 27/500 [00:01<00:25, 18.55it/s]
  6%|5         | 29/500 [00:01<00:25, 18.52it/s]
  6%|6         | 31/500 [00:01<00:25, 18.57it/s]
  7%|6         | 33/500 [00:02<00:25, 18.45it/s]
  7%|7         | 35/500 [00:02<00:25, 18.40it/s]
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 10%|9         | 49/500 [00:02<00:24, 18.60it/s]
 10%|#         | 51/500 [00:03<00:24, 18.65it/s]
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 11%|#1        | 55/500 [00:03<00:23, 18.57it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.69it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.64it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.59it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.62it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.67it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.63it/s]
 15%|#4        | 73/500 [00:04<00:22, 18.64it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.54it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.59it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.39it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.52it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.46it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.56it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.62it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.46it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.47it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.50it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.56it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.54it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.58it/s]
 20%|##        | 101/500 [00:05<00:21, 18.51it/s]
 21%|##        | 103/500 [00:05<00:21, 18.37it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.34it/s]
 21%|##1       | 107/500 [00:06<00:21, 18.38it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.43it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.56it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.55it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.51it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.56it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.60it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.57it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.62it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.59it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.60it/s]
 26%|##5       | 129/500 [00:07<00:20, 18.52it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.42it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.44it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.39it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.49it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.34it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.43it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.48it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.55it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.57it/s]
 30%|###       | 151/500 [00:08<00:18, 18.55it/s]
 31%|###       | 153/500 [00:08<00:18, 18.56it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.62it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.60it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.50it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.62it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.57it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.47it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.43it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.53it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.52it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.59it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.55it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.56it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.60it/s]
 36%|###6      | 181/500 [00:10<00:17, 18.59it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.54it/s]
 37%|###7      | 185/500 [00:10<00:16, 18.55it/s]
 37%|###7      | 187/500 [00:10<00:16, 18.61it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.55it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.52it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.36it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.30it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.27it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.30it/s]
 40%|####      | 201/500 [00:11<00:16, 18.37it/s]
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 43%|####3     | 215/500 [00:11<00:15, 18.41it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.50it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.51it/s]
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 45%|####4     | 223/500 [00:12<00:14, 18.53it/s]
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 47%|####6     | 233/500 [00:12<00:14, 18.48it/s]
 47%|####6     | 235/500 [00:12<00:14, 18.54it/s]
 47%|####7     | 237/500 [00:13<00:14, 18.55it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.64it/s]
 48%|####8     | 241/500 [00:13<00:13, 18.64it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.74it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.60it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.60it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.49it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.49it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.46it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.53it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.61it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.62it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.49it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.49it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.39it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.50it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.43it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.43it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.27it/s]
 56%|#####5    | 279/500 [00:15<00:12, 18.42it/s]
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 58%|#####7    | 289/500 [00:15<00:11, 18.47it/s]
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 59%|#####8    | 293/500 [00:16<00:11, 18.40it/s]
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 59%|#####9    | 297/500 [00:16<00:10, 18.51it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.51it/s]
 61%|######    | 303/500 [00:16<00:10, 18.54it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.57it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.55it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.64it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.55it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.58it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.51it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.39it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.48it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.38it/s]
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 69%|######9   | 345/500 [00:18<00:08, 18.32it/s]
 69%|######9   | 347/500 [00:19<00:08, 18.37it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.28it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.38it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.39it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.46it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.49it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.55it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.65it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.66it/s]
 81%|########  | 403/500 [00:22<00:05, 18.58it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.61it/s]
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 83%|########2 | 415/500 [00:22<00:04, 18.49it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.54it/s]
 91%|######### | 453/500 [00:24<00:02, 18.33it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.33it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.38it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.46it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.52it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.56it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.52it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.48it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.49it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.54it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.45it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.53it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.48it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.39it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.42it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.20it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.46it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.42it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.49it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.31it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.23it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.30it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.27it/s]
100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 51
-{
-    "Log_Likelihood": 18.260317462921144,
-    "Loss": -18.260317462921144,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 12631.996469179803,
-    "Time_Data_Loading": 0.023218886057535807,
-    "Time_Epoch": 0.4572313229242961,
-    "Time_Log_Info": 0.010273921489715575,
-    "Time_Process_Batch": 0.02211025555928548,
-    "Time_Train_Batch": 0.3987205465634664
-}
-
-Epoch 51 Memory Usage: 3142 MB
-
-
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  0%|          | 1/500 [00:00<02:04,  4.00it/s]
  1%|          | 3/500 [00:00<00:52,  9.51it/s]
  1%|1         | 5/500 [00:00<00:39, 12.40it/s]
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  2%|1         | 9/500 [00:00<00:31, 15.68it/s]
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  3%|2         | 13/500 [00:00<00:28, 17.27it/s]
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 11%|#1        | 55/500 [00:03<00:23, 18.67it/s]
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 16%|#5        | 79/500 [00:04<00:22, 18.41it/s]
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 17%|#7        | 87/500 [00:04<00:22, 18.29it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.34it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.39it/s]
 19%|#8        | 93/500 [00:05<00:22, 18.40it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.46it/s]
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 20%|#9        | 99/500 [00:05<00:21, 18.43it/s]
 20%|##        | 101/500 [00:05<00:21, 18.49it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.49it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.61it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.61it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.65it/s]
 23%|##2       | 113/500 [00:06<00:21, 18.37it/s]
 23%|##3       | 115/500 [00:06<00:21, 18.31it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.44it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.27it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.26it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.16it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.30it/s]
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 26%|##5       | 129/500 [00:07<00:20, 18.44it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.54it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.43it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.44it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.53it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.41it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.16it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.22it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.18it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.23it/s]
 30%|###       | 151/500 [00:08<00:19, 18.35it/s]
 31%|###       | 153/500 [00:08<00:19, 18.24it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.36it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.37it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.49it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.54it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.60it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.55it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.57it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.56it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.53it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.54it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.53it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.48it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.43it/s]
 36%|###6      | 181/500 [00:10<00:17, 18.51it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.50it/s]
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 37%|###7      | 187/500 [00:10<00:16, 18.61it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.60it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.53it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.54it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.51it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.56it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.33it/s]
 40%|####      | 201/500 [00:11<00:16, 18.48it/s]
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 43%|####2     | 213/500 [00:11<00:15, 18.46it/s]
 43%|####3     | 215/500 [00:11<00:15, 18.43it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.49it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.45it/s]
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 47%|####6     | 235/500 [00:12<00:14, 18.47it/s]
 47%|####7     | 237/500 [00:13<00:14, 18.54it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.64it/s]
 48%|####8     | 241/500 [00:13<00:13, 18.62it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.66it/s]
 49%|####9     | 245/500 [00:13<00:13, 18.56it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.61it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.64it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.60it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.64it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.59it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.66it/s]
 52%|#####1    | 259/500 [00:14<00:12, 18.63it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.67it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.71it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.67it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.66it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.56it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.56it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.50it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.47it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.49it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.55it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.65it/s]
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 57%|#####7    | 287/500 [00:15<00:11, 18.43it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.43it/s]
 58%|#####8    | 291/500 [00:15<00:11, 18.48it/s]
 59%|#####8    | 293/500 [00:16<00:11, 18.46it/s]
 59%|#####8    | 295/500 [00:16<00:11, 18.41it/s]
 59%|#####9    | 297/500 [00:16<00:10, 18.46it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.67it/s]
 61%|######    | 303/500 [00:16<00:10, 18.45it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.44it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.47it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.36it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.15it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.27it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.43it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.47it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.58it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.53it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.57it/s]
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 67%|######6   | 333/500 [00:18<00:09, 18.35it/s]
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 69%|######8   | 343/500 [00:18<00:08, 18.48it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.51it/s]
 69%|######9   | 347/500 [00:18<00:08, 18.48it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.48it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.52it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.54it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.52it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.56it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.56it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.45it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.56it/s]
 81%|########  | 403/500 [00:21<00:05, 18.54it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.55it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.38it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.33it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.45it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.42it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.49it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.44it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.48it/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, 18.54it/s]
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 95%|#########5| 475/500 [00:25<00:01, 18.53it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.51it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.50it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.52it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.60it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.50it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.60it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.58it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.57it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.51it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.51it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.51it/s]
100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 52
-{
-    "Log_Likelihood": 18.307130462646484,
-    "Loss": -18.307130462646484,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 12670.748167206633,
-    "Time_Data_Loading": 0.022599355379740397,
-    "Time_Epoch": 0.45642396608988445,
-    "Time_Log_Info": 0.010242907206217448,
-    "Time_Process_Batch": 0.022284984588623047,
-    "Time_Train_Batch": 0.39846767981847125
-}
-
-Epoch 52 Memory Usage: 3142 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:05,  3.99it/s]
  1%|          | 3/500 [00:00<00:51,  9.65it/s]
  1%|1         | 5/500 [00:00<00:38, 12.80it/s]
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  2%|1         | 9/500 [00:00<00:30, 15.92it/s]
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 22%|##2       | 111/500 [00:06<00:21, 18.18it/s]
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 23%|##3       | 117/500 [00:06<00:20, 18.52it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.55it/s]
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 30%|##9       | 149/500 [00:08<00:18, 18.59it/s]
 30%|###       | 151/500 [00:08<00:18, 18.51it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.42it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.44it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.46it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.40it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.48it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.50it/s]
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 81%|########1 | 405/500 [00:22<00:05, 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, 18.30it/s]
-Train Epoch 53
-{
-    "Log_Likelihood": 18.300110820770264,
-    "Loss": -18.300110820770264,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 12194.906217025313,
-    "Time_Data_Loading": 0.02274057865142822,
-    "Time_Epoch": 0.458134659131368,
-    "Time_Log_Info": 0.010245815912882487,
-    "Time_Process_Batch": 0.02243410348892212,
-    "Time_Train_Batch": 0.39952588081359863
-}
-
-Epoch 53 Memory Usage: 3142 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
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  1%|          | 3/500 [00:00<00:55,  9.02it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.20it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.19it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.24it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.26it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.26it/s]
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 96%|#########5| 479/500 [00:26<00:01, 18.67it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.62it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.44it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.49it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.48it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 54
-{
-    "Log_Likelihood": 18.329324531555176,
-    "Loss": -18.329324531555176,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 10794.303582973627,
-    "Time_Data_Loading": 0.022948360443115233,
-    "Time_Epoch": 0.45705538193384804,
-    "Time_Log_Info": 0.01022507349650065,
-    "Time_Process_Batch": 0.02206919193267822,
-    "Time_Train_Batch": 0.3988698045412699
-}
-
-Epoch 54 Memory Usage: 3144 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:08,  3.88it/s]
  1%|          | 3/500 [00:00<00:52,  9.39it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.55it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.71it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 55
-{
-    "Log_Likelihood": 18.36608476257324,
-    "Loss": -18.36608476257324,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 11369.83208356278,
-    "Time_Data_Loading": 0.022429136435190837,
-    "Time_Epoch": 0.4565621097882589,
-    "Time_Log_Info": 0.010251108805338542,
-    "Time_Process_Batch": 0.022271911303202312,
-    "Time_Train_Batch": 0.3984988609949748
-}
-
-Epoch 55 Memory Usage: 3144 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:07,  3.90it/s]
  1%|          | 3/500 [00:00<00:52,  9.44it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 56
-{
-    "Log_Likelihood": 18.384134002685546,
-    "Loss": -18.384134002685546,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 10967.828043632273,
-    "Time_Data_Loading": 0.023059125741322836,
-    "Time_Epoch": 0.45733968416849774,
-    "Time_Log_Info": 0.01027166446050008,
-    "Time_Process_Batch": 0.022273977597554524,
-    "Time_Train_Batch": 0.3988617698351542
-}
-
-Epoch 56 Memory Usage: 3144 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 57
-{
-    "Log_Likelihood": 18.40252560043335,
-    "Loss": -18.40252560043335,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 10707.64399952396,
-    "Time_Data_Loading": 0.02254748741785685,
-    "Time_Epoch": 0.4566787799199422,
-    "Time_Log_Info": 0.010251887639363607,
-    "Time_Process_Batch": 0.022267202536265056,
-    "Time_Train_Batch": 0.39850467443466187
-}
-
-Epoch 57 Memory Usage: 3144 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 58
-{
-    "Log_Likelihood": 18.44182609176636,
-    "Loss": -18.44182609176636,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 10199.550429359782,
-    "Time_Data_Loading": 0.023809754848480226,
-    "Time_Epoch": 0.4578027407328288,
-    "Time_Log_Info": 0.010275618235270182,
-    "Time_Process_Batch": 0.0222246249516805,
-    "Time_Train_Batch": 0.3981825828552246
-}
-
-Epoch 58 Memory Usage: 3144 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 59
-{
-    "Log_Likelihood": 18.487139930725096,
-    "Loss": -18.487139930725096,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 9978.887284373715,
-    "Time_Data_Loading": 0.0233536163965861,
-    "Time_Epoch": 0.4574422637621562,
-    "Time_Log_Info": 0.010260796546936036,
-    "Time_Process_Batch": 0.022386586666107176,
-    "Time_Train_Batch": 0.3984558661778768
-}
-
-Epoch 59 Memory Usage: 3144 MB
-
-
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-Train Epoch 60
-{
-    "Log_Likelihood": 18.486806617736818,
-    "Loss": -18.486806617736818,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 9070.359637276966,
-    "Time_Data_Loading": 0.022297974427541098,
-    "Time_Epoch": 0.45605305830637616,
-    "Time_Log_Info": 0.010239696502685547,
-    "Time_Process_Batch": 0.022082467873891194,
-    "Time_Train_Batch": 0.39841017723083494
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_60.pth
-
-Epoch 60 Memory Usage: 3145 MB
-
-
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 12%|#2        | 61/500 [00:03<00:23, 18.43it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.36it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.51it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.51it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.45it/s]
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 15%|#4        | 73/500 [00:04<00:23, 18.52it/s]
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 17%|#7        | 87/500 [00:04<00:22, 18.59it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.52it/s]
 18%|#8        | 91/500 [00:05<00:21, 18.62it/s]
 19%|#8        | 93/500 [00:05<00:22, 18.47it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.46it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.51it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.53it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.46it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.58it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.58it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.51it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.36it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.43it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.17it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.36it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.47it/s]
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 27%|##6       | 133/500 [00:07<00:20, 18.32it/s]
 27%|##7       | 135/500 [00:07<00:20, 18.22it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.30it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.35it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.32it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.36it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.43it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.31it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.50it/s]
 30%|###       | 151/500 [00:08<00:18, 18.46it/s]
 31%|###       | 153/500 [00:08<00:18, 18.50it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.50it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.63it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.64it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.55it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.56it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.54it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.58it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.57it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.55it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.48it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.36it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.38it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.43it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.44it/s]
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 37%|###7      | 187/500 [00:10<00:16, 18.43it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.38it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.32it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.35it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.42it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.49it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.40it/s]
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 43%|####3     | 215/500 [00:11<00:15, 18.29it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.36it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.38it/s]
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 47%|####6     | 235/500 [00:12<00:14, 18.36it/s]
 47%|####7     | 237/500 [00:13<00:14, 18.34it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.40it/s]
 48%|####8     | 241/500 [00:13<00:14, 18.46it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.60it/s]
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 49%|####9     | 247/500 [00:13<00:13, 18.58it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.71it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.68it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.68it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.62it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.57it/s]
 52%|#####1    | 259/500 [00:14<00:12, 18.59it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.57it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.63it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.59it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.61it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.56it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.56it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.45it/s]
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 55%|#####5    | 277/500 [00:15<00:11, 18.63it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.28it/s]
 61%|######    | 303/500 [00:16<00:10, 18.34it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.28it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.16it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.14it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.09it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.30it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.36it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.45it/s]
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 64%|######4   | 321/500 [00:17<00:09, 18.45it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.47it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.49it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.51it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.49it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.57it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.53it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.61it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.59it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.61it/s]
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 81%|########  | 403/500 [00:22<00:05, 18.48it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.49it/s]
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 93%|#########2| 463/500 [00:25<00:02, 18.49it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.57it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.59it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.58it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.61it/s]
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 95%|#########5| 475/500 [00:25<00:01, 18.50it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.44it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.46it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.36it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.22it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.24it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.02it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.18it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.32it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.33it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 61
-{
-    "Log_Likelihood": 18.49883724594116,
-    "Loss": -18.49883724594116,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 9345.457432460395,
-    "Time_Data_Loading": 0.02313589652379354,
-    "Time_Epoch": 0.457144828637441,
-    "Time_Log_Info": 0.010244464874267578,
-    "Time_Process_Batch": 0.022236382961273192,
-    "Time_Train_Batch": 0.39853320916493734
-}
-
-Epoch 61 Memory Usage: 3145 MB
-
-
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  0%|          | 1/500 [00:00<01:54,  4.37it/s]
  1%|          | 3/500 [00:00<00:49, 10.00it/s]
  1%|1         | 5/500 [00:00<00:37, 13.09it/s]
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 22%|##2       | 111/500 [00:06<00:21, 18.52it/s]
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 23%|##3       | 115/500 [00:06<00:20, 18.55it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.52it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.44it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.55it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.49it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.46it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.42it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.35it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.36it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.44it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.50it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.50it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 62
-{
-    "Log_Likelihood": 18.51034593963623,
-    "Loss": -18.51034593963623,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 8780.560462425463,
-    "Time_Data_Loading": 0.02273118495941162,
-    "Time_Epoch": 0.45715741713841757,
-    "Time_Log_Info": 0.01027066707611084,
-    "Time_Process_Batch": 0.02209554115931193,
-    "Time_Train_Batch": 0.3987693270047506
-}
-
-Epoch 62 Memory Usage: 3145 MB
-
-
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  0%|          | 1/500 [00:00<02:12,  3.77it/s]
  1%|          | 3/500 [00:00<00:53,  9.27it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 63
-{
-    "Log_Likelihood": 18.544187980651856,
-    "Loss": -18.544187980651856,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 8584.80408129896,
-    "Time_Data_Loading": 0.023555123805999757,
-    "Time_Epoch": 0.4577359398206075,
-    "Time_Log_Info": 0.010258344809214275,
-    "Time_Process_Batch": 0.02220231294631958,
-    "Time_Train_Batch": 0.39872902631759644
-}
-
-Epoch 63 Memory Usage: 3146 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.70it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 64
-{
-    "Log_Likelihood": 18.517037006378175,
-    "Loss": -18.517037006378175,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 8595.868269642811,
-    "Time_Data_Loading": 0.02238666216532389,
-    "Time_Epoch": 0.45587702592213947,
-    "Time_Log_Info": 0.010274895032246907,
-    "Time_Process_Batch": 0.022138166427612304,
-    "Time_Train_Batch": 0.3981446107228597
-}
-
-Epoch 64 Memory Usage: 3146 MB
-
-
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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 65
-{
-    "Log_Likelihood": 18.57196741485596,
-    "Loss": -18.57196741485596,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 8034.218668803999,
-    "Time_Data_Loading": 0.021980686982472738,
-    "Time_Epoch": 0.45556402603785195,
-    "Time_Log_Info": 0.010249698162078857,
-    "Time_Process_Batch": 0.02199341058731079,
-    "Time_Train_Batch": 0.3979811946551005
-}
-
-Epoch 65 Memory Usage: 3146 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 66
-{
-    "Log_Likelihood": 18.595849082946778,
-    "Loss": -18.595849082946778,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 8313.50849248646,
-    "Time_Data_Loading": 0.0227218230565389,
-    "Time_Epoch": 0.4567057569821676,
-    "Time_Log_Info": 0.01024848222732544,
-    "Time_Process_Batch": 0.02213610808054606,
-    "Time_Train_Batch": 0.39863080183664956
-}
-
-Epoch 66 Memory Usage: 3147 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.16it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 67
-{
-    "Log_Likelihood": 18.63198352813721,
-    "Loss": -18.63198352813721,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 7738.125985543908,
-    "Time_Data_Loading": 0.022885831197102864,
-    "Time_Epoch": 0.45693945487340293,
-    "Time_Log_Info": 0.010254172484079997,
-    "Time_Process_Batch": 0.022299814224243163,
-    "Time_Train_Batch": 0.39858709971110023
-}
-
-Epoch 67 Memory Usage: 3147 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.26it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 68
-{
-    "Log_Likelihood": 18.626671463012695,
-    "Loss": -18.626671463012695,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 7466.4973918880205,
-    "Time_Data_Loading": 0.023162102699279784,
-    "Time_Epoch": 0.457585608959198,
-    "Time_Log_Info": 0.010252141952514648,
-    "Time_Process_Batch": 0.022371125221252442,
-    "Time_Train_Batch": 0.39889769156773885
-}
-
-Epoch 68 Memory Usage: 3147 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 69
-{
-    "Log_Likelihood": 18.623738025665283,
-    "Loss": -18.623738025665283,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 7412.280871283634,
-    "Time_Data_Loading": 0.02366661230723063,
-    "Time_Epoch": 0.4573732217152913,
-    "Time_Log_Info": 0.010265556971232097,
-    "Time_Process_Batch": 0.022159854571024578,
-    "Time_Train_Batch": 0.3984091599782308
-}
-
-Epoch 69 Memory Usage: 3148 MB
-
-
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 33%|###2      | 163/500 [00:09<00:18, 18.40it/s]
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 34%|###3      | 169/500 [00:09<00:17, 18.55it/s]
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 35%|###4      | 173/500 [00:09<00:17, 18.52it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.61it/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, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 70
-{
-    "Log_Likelihood": 18.689293857574462,
-    "Loss": -18.689293857574462,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 6848.540017070558,
-    "Time_Data_Loading": 0.022906033198038737,
-    "Time_Epoch": 0.4574129780133565,
-    "Time_Log_Info": 0.010237403710683187,
-    "Time_Process_Batch": 0.022282878557840984,
-    "Time_Train_Batch": 0.3991099198659261
-}
-
-Epoch 70 Memory Usage: 3148 MB
-
-
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 20%|##        | 101/500 [00:05<00:21, 18.46it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.33it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.26it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.31it/s]
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 24%|##3       | 119/500 [00:06<00:20, 18.55it/s]
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 27%|##7       | 137/500 [00:07<00:19, 18.28it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.55it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.57it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.63it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.57it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.60it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.63it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.66it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.66it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.39it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.58it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.60it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.42it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.12it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.21it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.33it/s]
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 53%|#####2    | 263/500 [00:14<00:12, 18.40it/s]
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 53%|#####3    | 267/500 [00:14<00:12, 18.46it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.41it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.39it/s]
 55%|#####4    | 273/500 [00:15<00:12, 18.46it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.45it/s]
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 59%|#####9    | 297/500 [00:16<00:11, 18.42it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.57it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.25it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.39it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.41it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.56it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.46it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.47it/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, 18.59it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.61it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.65it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.63it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.53it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.56it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 71
-{
-    "Log_Likelihood": 18.689639011383058,
-    "Loss": -18.689639011383058,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 6806.928647415603,
-    "Time_Data_Loading": 0.023069055875142415,
-    "Time_Epoch": 0.45739283561706545,
-    "Time_Log_Info": 0.010267861684163411,
-    "Time_Process_Batch": 0.022262362639109294,
-    "Time_Train_Batch": 0.39856645663579304
-}
-
-Epoch 71 Memory Usage: 3148 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:02,  4.07it/s]
  1%|          | 3/500 [00:00<00:50,  9.79it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 72
-{
-    "Log_Likelihood": 18.711722415924072,
-    "Loss": -18.711722415924072,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 6732.380258636328,
-    "Time_Data_Loading": 0.02245226303736369,
-    "Time_Epoch": 0.4566438953081767,
-    "Time_Log_Info": 0.010270905494689942,
-    "Time_Process_Batch": 0.022245176633199058,
-    "Time_Train_Batch": 0.3984389980634054
-}
-
-Epoch 72 Memory Usage: 3148 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
-Train Epoch 73
-{
-    "Log_Likelihood": 18.734911930084227,
-    "Loss": -18.734911930084227,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 6885.311872651105,
-    "Time_Data_Loading": 0.023147161801656088,
-    "Time_Epoch": 0.45833897590637207,
-    "Time_Log_Info": 0.0101937731107076,
-    "Time_Process_Batch": 0.022485387325286866,
-    "Time_Train_Batch": 0.399602472782135
-}
-
-Epoch 73 Memory Usage: 3149 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 74
-{
-    "Log_Likelihood": 18.73259683227539,
-    "Loss": -18.73259683227539,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 6370.6794922237705,
-    "Time_Data_Loading": 0.023578683535257976,
-    "Time_Epoch": 0.45797906319300336,
-    "Time_Log_Info": 0.010259441534678141,
-    "Time_Process_Batch": 0.022321836153666178,
-    "Time_Train_Batch": 0.3987999200820923
-}
-
-Epoch 74 Memory Usage: 3150 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 75
-{
-    "Log_Likelihood": 18.78345559692383,
-    "Loss": -18.78345559692383,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 6369.6075343350285,
-    "Time_Data_Loading": 0.022746721903483074,
-    "Time_Epoch": 0.4577990372975667,
-    "Time_Log_Info": 0.010245430469512939,
-    "Time_Process_Batch": 0.0224252184232076,
-    "Time_Train_Batch": 0.3994094411532084
-}
-
-Epoch 75 Memory Usage: 3149 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 76
-{
-    "Log_Likelihood": 18.7939930267334,
-    "Loss": -18.7939930267334,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 6256.923721646352,
-    "Time_Data_Loading": 0.02269665002822876,
-    "Time_Epoch": 0.45663754145304364,
-    "Time_Log_Info": 0.010263590017954509,
-    "Time_Process_Batch": 0.02236440181732178,
-    "Time_Train_Batch": 0.39837549527486166
-}
-
-Epoch 76 Memory Usage: 3150 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.31it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 77
-{
-    "Log_Likelihood": 18.80524389266968,
-    "Loss": -18.80524389266968,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 5972.974804042097,
-    "Time_Data_Loading": 0.02249913215637207,
-    "Time_Epoch": 0.45668567419052125,
-    "Time_Log_Info": 0.01025762955347697,
-    "Time_Process_Batch": 0.02263373533884684,
-    "Time_Train_Batch": 0.39824859698613485
-}
-
-Epoch 77 Memory Usage: 3151 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 78
-{
-    "Log_Likelihood": 18.792548183441163,
-    "Loss": -18.792548183441163,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 6003.141268437595,
-    "Time_Data_Loading": 0.022866817315419515,
-    "Time_Epoch": 0.4570388356844584,
-    "Time_Log_Info": 0.010266530513763427,
-    "Time_Process_Batch": 0.02235304911931356,
-    "Time_Train_Batch": 0.398600689570109
-}
-
-Epoch 78 Memory Usage: 3151 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 79
-{
-    "Log_Likelihood": 18.831866149902343,
-    "Loss": -18.831866149902343,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 5464.674273689023,
-    "Time_Data_Loading": 0.022550412019093833,
-    "Time_Epoch": 0.45757588545481365,
-    "Time_Log_Info": 0.010232611497243246,
-    "Time_Process_Batch": 0.022642743587493897,
-    "Time_Train_Batch": 0.39915775060653685
-}
-
-Epoch 79 Memory Usage: 3152 MB
-
-
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-Train Epoch 80
-{
-    "Log_Likelihood": 18.8392174949646,
-    "Loss": -18.8392174949646,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 5638.501959588632,
-    "Time_Data_Loading": 0.023343213399251304,
-    "Time_Epoch": 0.4569939772288005,
-    "Time_Log_Info": 0.010245128472646078,
-    "Time_Process_Batch": 0.02251479625701904,
-    "Time_Train_Batch": 0.39790045817693076
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_80.pth
-
-Epoch 80 Memory Usage: 3152 MB
-
-
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 27%|##6       | 133/500 [00:07<00:19, 18.53it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.35it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.52it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.46it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.48it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.40it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.49it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.29it/s]
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 53%|#####2    | 263/500 [00:14<00:12, 18.41it/s]
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 53%|#####3    | 267/500 [00:14<00:12, 18.52it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.45it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.61it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.62it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.55it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.59it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.46it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.51it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.44it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.31it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.36it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.38it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.18it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.26it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.26it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.45it/s]
 81%|########  | 403/500 [00:22<00:05, 18.51it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.47it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.39it/s]
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 96%|#########6| 481/500 [00:26<00:01, 18.42it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.28it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 81
-{
-    "Log_Likelihood": 18.875981506347657,
-    "Loss": -18.875981506347657,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 5415.029178695475,
-    "Time_Data_Loading": 0.02275690237681071,
-    "Time_Epoch": 0.45737606287002563,
-    "Time_Log_Info": 0.01025761365890503,
-    "Time_Process_Batch": 0.022224080562591553,
-    "Time_Train_Batch": 0.398977530002594
-}
-
-Epoch 81 Memory Usage: 3159 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:17,  3.63it/s]
  1%|          | 3/500 [00:00<00:54,  9.07it/s]
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 27%|##7       | 137/500 [00:07<00:19, 18.43it/s]
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 29%|##9       | 147/500 [00:08<00:19, 18.50it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.48it/s]
 30%|###       | 151/500 [00:08<00:19, 18.37it/s]
 31%|###       | 153/500 [00:08<00:18, 18.52it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.52it/s]
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 33%|###3      | 165/500 [00:09<00:18, 18.55it/s]
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 38%|###8      | 191/500 [00:10<00:16, 18.55it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.26it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.30it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.29it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.53it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 82
-{
-    "Log_Likelihood": 18.892667011260986,
-    "Loss": -18.892667011260986,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 5295.73920551625,
-    "Time_Data_Loading": 0.023472964763641357,
-    "Time_Epoch": 0.4577621340751648,
-    "Time_Log_Info": 0.01026695966720581,
-    "Time_Process_Batch": 0.02241060733795166,
-    "Time_Train_Batch": 0.3984749952952067
-}
-
-Epoch 82 Memory Usage: 3160 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:02,  4.06it/s]
  1%|          | 3/500 [00:00<00:51,  9.68it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.61it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.66it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.41it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.52it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.58it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.49it/s]
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 83%|########2 | 415/500 [00:22<00:04, 18.49it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.32it/s]
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 92%|#########1| 459/500 [00:25<00:02, 18.47it/s]
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 93%|#########3| 467/500 [00:25<00:01, 18.54it/s]
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 96%|#########5| 479/500 [00:26<00:01, 18.48it/s]
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 97%|#########6| 483/500 [00:26<00:00, 18.17it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.40it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.35it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.43it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.28it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 83
-{
-    "Log_Likelihood": 18.897992485046387,
-    "Loss": -18.897992485046387,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 5129.7969672384725,
-    "Time_Data_Loading": 0.02273838917414347,
-    "Time_Epoch": 0.4572388132413228,
-    "Time_Log_Info": 0.0102729598681132,
-    "Time_Process_Batch": 0.02254255215326945,
-    "Time_Train_Batch": 0.398606272538503
-}
-
-Epoch 83 Memory Usage: 3160 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:01,  4.10it/s]
  1%|          | 3/500 [00:00<00:51,  9.73it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.77it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 84
-{
-    "Log_Likelihood": 18.910861946105957,
-    "Loss": -18.910861946105957,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 5153.687851207582,
-    "Time_Data_Loading": 0.022727771600087484,
-    "Time_Epoch": 0.45676565170288086,
-    "Time_Log_Info": 0.01026139259338379,
-    "Time_Process_Batch": 0.022272173563639322,
-    "Time_Train_Batch": 0.39847515026728314
-}
-
-Epoch 84 Memory Usage: 3161 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:03,  4.03it/s]
  1%|          | 3/500 [00:00<00:51,  9.59it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 85
-{
-    "Log_Likelihood": 18.898106159210204,
-    "Loss": -18.898106159210204,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 5095.081042241035,
-    "Time_Data_Loading": 0.02262125809987386,
-    "Time_Epoch": 0.45678324699401857,
-    "Time_Log_Info": 0.010280919075012208,
-    "Time_Process_Batch": 0.022462753454844157,
-    "Time_Train_Batch": 0.3984260280927022
-}
-
-Epoch 85 Memory Usage: 3161 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, 18.36it/s]
-Train Epoch 86
-{
-    "Log_Likelihood": 18.93211653137207,
-    "Loss": -18.93211653137207,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 5005.576502309154,
-    "Time_Data_Loading": 0.02251525322596232,
-    "Time_Epoch": 0.45630324284235635,
-    "Time_Log_Info": 0.010255026817321777,
-    "Time_Process_Batch": 0.02200373411178589,
-    "Time_Train_Batch": 0.3986233433087667
-}
-
-Epoch 86 Memory Usage: 3162 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:22,  3.50it/s]
  1%|          | 3/500 [00:00<00:56,  8.84it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 87
-{
-    "Log_Likelihood": 18.95950732421875,
-    "Loss": -18.95950732421875,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 4607.94654651762,
-    "Time_Data_Loading": 0.02300998369852702,
-    "Time_Epoch": 0.45674397945404055,
-    "Time_Log_Info": 0.010249070326487223,
-    "Time_Process_Batch": 0.021971269448598226,
-    "Time_Train_Batch": 0.3985768516858419
-}
-
-Epoch 87 Memory Usage: 3161 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 88
-{
-    "Log_Likelihood": 18.953607120513915,
-    "Loss": -18.953607120513915,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 4336.495864982436,
-    "Time_Data_Loading": 0.022963090737660726,
-    "Time_Epoch": 0.457317852973938,
-    "Time_Log_Info": 0.010211547215779623,
-    "Time_Process_Batch": 0.02209932804107666,
-    "Time_Train_Batch": 0.3990341583887736
-}
-
-Epoch 88 Memory Usage: 3163 MB
-
-
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 10%|#         | 51/500 [00:02<00:24, 18.24it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.34it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.51it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.35it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.46it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.56it/s]
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 15%|#4        | 73/500 [00:04<00:23, 18.44it/s]
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 15%|#5        | 77/500 [00:04<00:22, 18.48it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.50it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.40it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.40it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.48it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.37it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.47it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.55it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.45it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.36it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.30it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.39it/s]
 23%|##2       | 113/500 [00:06<00:21, 18.37it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.49it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.50it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.50it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.48it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.50it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.52it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.45it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.51it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.40it/s]
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 28%|##8       | 141/500 [00:07<00:19, 18.39it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.43it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.33it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.45it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.43it/s]
 30%|###       | 151/500 [00:08<00:18, 18.51it/s]
 31%|###       | 153/500 [00:08<00:18, 18.39it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.47it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.46it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.48it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.36it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.48it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.41it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.49it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.50it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.51it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.57it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.53it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.49it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.53it/s]
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 38%|###7      | 189/500 [00:10<00:17, 18.23it/s]
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 48%|####7     | 239/500 [00:13<00:14, 18.44it/s]
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 49%|####8     | 243/500 [00:13<00:13, 18.45it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.32it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.47it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.54it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.58it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.28it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.34it/s]
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 53%|#####2    | 263/500 [00:14<00:12, 18.39it/s]
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 53%|#####3    | 267/500 [00:14<00:12, 18.45it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.60it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.51it/s]
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 55%|#####5    | 275/500 [00:15<00:12, 18.53it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.57it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.48it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.55it/s]
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 62%|######1   | 309/500 [00:16<00:10, 18.46it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.40it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.40it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.39it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.48it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.43it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.40it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.40it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.23it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.41it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.42it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.29it/s]
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 92%|#########1| 459/500 [00:25<00:02, 18.23it/s]
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 93%|#########3| 465/500 [00:25<00:01, 18.46it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.48it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.49it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.58it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.61it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.59it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.65it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.55it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.55it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.55it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.52it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.49it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.56it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.62it/s]
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 99%|#########9| 497/500 [00:27<00:00, 18.62it/s]
100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 89
-{
-    "Log_Likelihood": 18.974969509124755,
-    "Loss": -18.974969509124755,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 4535.061973139268,
-    "Time_Data_Loading": 0.022902433077494302,
-    "Time_Epoch": 0.4567964434623718,
-    "Time_Log_Info": 0.010282540321350097,
-    "Time_Process_Batch": 0.022163883845011393,
-    "Time_Train_Batch": 0.3984053373336792
-}
-
-Epoch 89 Memory Usage: 3163 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:47,  4.65it/s]
  1%|          | 3/500 [00:00<00:50,  9.90it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.59it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.26it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.38it/s]
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 51%|#####1    | 255/500 [00:13<00:13, 18.07it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.49it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.47it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.45it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 90
-{
-    "Log_Likelihood": 19.00862885284424,
-    "Loss": -19.00862885284424,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 4423.341326854913,
-    "Time_Data_Loading": 0.02205962340037028,
-    "Time_Epoch": 0.4565744797388713,
-    "Time_Log_Info": 0.010254784425099691,
-    "Time_Process_Batch": 0.02252280314763387,
-    "Time_Train_Batch": 0.398739218711853
-}
-
-Epoch 90 Memory Usage: 3163 MB
-
-
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  1%|          | 3/500 [00:00<00:53,  9.25it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 91
-{
-    "Log_Likelihood": 19.023565937042235,
-    "Loss": -19.023565937042235,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 4350.912951532191,
-    "Time_Data_Loading": 0.02264082431793213,
-    "Time_Epoch": 0.4567192236582438,
-    "Time_Log_Info": 0.010261837641398113,
-    "Time_Process_Batch": 0.022399572531382243,
-    "Time_Train_Batch": 0.3985275348027547
-}
-
-Epoch 91 Memory Usage: 3164 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.22it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 92
-{
-    "Log_Likelihood": 19.04679754638672,
-    "Loss": -19.04679754638672,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 4280.173696338942,
-    "Time_Data_Loading": 0.02230350176493327,
-    "Time_Epoch": 0.45611109733581545,
-    "Time_Log_Info": 0.01024245818456014,
-    "Time_Process_Batch": 0.022083795070648192,
-    "Time_Train_Batch": 0.3985140919685364
-}
-
-Epoch 92 Memory Usage: 3164 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 93
-{
-    "Log_Likelihood": 19.041479640960695,
-    "Loss": -19.041479640960695,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 4317.691239097666,
-    "Time_Data_Loading": 0.023004945119222006,
-    "Time_Epoch": 0.4566974759101868,
-    "Time_Log_Info": 0.010258964697519938,
-    "Time_Process_Batch": 0.022171783447265624,
-    "Time_Train_Batch": 0.3983287215232849
-}
-
-Epoch 93 Memory Usage: 3164 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.24it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 94
-{
-    "Log_Likelihood": 19.061877296447754,
-    "Loss": -19.061877296447754,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 4207.656959249229,
-    "Time_Data_Loading": 0.023194658756256103,
-    "Time_Epoch": 0.4575392961502075,
-    "Time_Log_Info": 0.010229845841725668,
-    "Time_Process_Batch": 0.02239798307418823,
-    "Time_Train_Batch": 0.398794960975647
-}
-
-Epoch 94 Memory Usage: 3165 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.29it/s]
-Train Epoch 95
-{
-    "Log_Likelihood": 19.048425827026367,
-    "Loss": -19.048425827026367,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 4073.747135865277,
-    "Time_Data_Loading": 0.02256410519282023,
-    "Time_Epoch": 0.45829426844914756,
-    "Time_Log_Info": 0.01016324758529663,
-    "Time_Process_Batch": 0.02231128215789795,
-    "Time_Train_Batch": 0.40005678733189903
-}
-
-Epoch 95 Memory Usage: 3165 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 96
-{
-    "Log_Likelihood": 19.07764419937134,
-    "Loss": -19.07764419937134,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 4007.9708911350613,
-    "Time_Data_Loading": 0.022725633780161538,
-    "Time_Epoch": 0.4578774094581604,
-    "Time_Log_Info": 0.010196363925933838,
-    "Time_Process_Batch": 0.02239831288655599,
-    "Time_Train_Batch": 0.3995141665140788
-}
-
-Epoch 96 Memory Usage: 3166 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.26it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
-Train Epoch 97
-{
-    "Log_Likelihood": 19.060681690216065,
-    "Loss": -19.060681690216065,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3935.3738533697137,
-    "Time_Data_Loading": 0.022855210304260253,
-    "Time_Epoch": 0.4585912823677063,
-    "Time_Log_Info": 0.010181395212809245,
-    "Time_Process_Batch": 0.022621667385101317,
-    "Time_Train_Batch": 0.39976200660069783
-}
-
-Epoch 97 Memory Usage: 3166 MB
-
-
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  5%|5         | 27/500 [00:01<00:25, 18.41it/s]
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  6%|6         | 31/500 [00:01<00:25, 18.46it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.62it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.56it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.60it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.52it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.52it/s]
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 15%|#4        | 73/500 [00:04<00:22, 18.60it/s]
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 16%|#5        | 79/500 [00:04<00:22, 18.57it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.34it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.24it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.41it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.41it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.45it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.37it/s]
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 20%|#9        | 99/500 [00:05<00:21, 18.52it/s]
 20%|##        | 101/500 [00:05<00:21, 18.54it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.33it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.29it/s]
 23%|##2       | 113/500 [00:06<00:21, 18.41it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.40it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.48it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.45it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.49it/s]
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 25%|##5       | 125/500 [00:06<00:20, 18.57it/s]
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 27%|##7       | 137/500 [00:07<00:19, 18.39it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.48it/s]
 31%|###       | 153/500 [00:08<00:18, 18.51it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.57it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.43it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.43it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.38it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.45it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.31it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.43it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.37it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.49it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.53it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.57it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.28it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.23it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.34it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.39it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.33it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.54it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.59it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.56it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.58it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.51it/s]
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 93%|#########3| 465/500 [00:25<00:01, 18.56it/s]
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 94%|#########3| 469/500 [00:25<00:01, 18.57it/s]
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 95%|#########5| 477/500 [00:26<00:01, 18.41it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.40it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.42it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.49it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.44it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.52it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.49it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.55it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.56it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.29it/s]
-Train Epoch 98
-{
-    "Log_Likelihood": 19.105692085266114,
-    "Loss": -19.105692085266114,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3933.7837589037526,
-    "Time_Data_Loading": 0.02331589857737223,
-    "Time_Epoch": 0.4580341577529907,
-    "Time_Log_Info": 0.010207585493723552,
-    "Time_Process_Batch": 0.022333629926045737,
-    "Time_Train_Batch": 0.399103573958079
-}
-
-Epoch 98 Memory Usage: 3166 MB
-
-
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  0%|          | 1/500 [00:00<02:20,  3.56it/s]
  1%|          | 3/500 [00:00<00:55,  8.93it/s]
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 18%|#7        | 89/500 [00:05<00:22, 18.50it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.41it/s]
 19%|#8        | 93/500 [00:05<00:22, 18.39it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.42it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.37it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.41it/s]
 20%|##        | 101/500 [00:05<00:21, 18.44it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.34it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.48it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.55it/s]
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 23%|##3       | 115/500 [00:06<00:20, 18.55it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.64it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.60it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.66it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.64it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.63it/s]
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 27%|##6       | 133/500 [00:07<00:20, 17.88it/s]
 27%|##7       | 135/500 [00:07<00:20, 17.87it/s]
 27%|##7       | 137/500 [00:07<00:20, 18.05it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.19it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.47it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.55it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.37it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.32it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.29it/s]
 30%|###       | 151/500 [00:08<00:18, 18.39it/s]
 31%|###       | 153/500 [00:08<00:18, 18.35it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.38it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.29it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.27it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.35it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.38it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.28it/s]
 34%|###3      | 169/500 [00:09<00:18, 18.38it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.41it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.47it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.39it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.49it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.45it/s]
 36%|###6      | 181/500 [00:10<00:17, 18.54it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.37it/s]
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 37%|###7      | 187/500 [00:10<00:16, 18.42it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.52it/s]
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 39%|###9      | 197/500 [00:10<00:16, 18.29it/s]
 40%|###9      | 199/500 [00:11<00:16, 18.24it/s]
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 43%|####3     | 217/500 [00:11<00:15, 18.39it/s]
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 47%|####6     | 235/500 [00:12<00:14, 18.24it/s]
 47%|####7     | 237/500 [00:13<00:14, 18.31it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.19it/s]
 48%|####8     | 241/500 [00:13<00:14, 18.34it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.37it/s]
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 49%|####9     | 247/500 [00:13<00:13, 18.45it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.51it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.49it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.54it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.53it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.59it/s]
 52%|#####1    | 259/500 [00:14<00:12, 18.60it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.56it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.57it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.55it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.42it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.40it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.42it/s]
 55%|#####4    | 273/500 [00:15<00:12, 18.40it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.47it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.45it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.53it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.50it/s]
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 57%|#####6    | 285/500 [00:15<00:11, 18.34it/s]
 57%|#####7    | 287/500 [00:15<00:11, 18.26it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.35it/s]
 58%|#####8    | 291/500 [00:16<00:11, 18.26it/s]
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 59%|#####8    | 295/500 [00:16<00:11, 18.46it/s]
 59%|#####9    | 297/500 [00:16<00:10, 18.50it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.51it/s]
 61%|######    | 303/500 [00:16<00:10, 18.48it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.45it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.42it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.51it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.51it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.52it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.49it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.50it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.50it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.63it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.60it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.66it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.54it/s]
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 67%|######7   | 335/500 [00:18<00:09, 18.28it/s]
 67%|######7   | 337/500 [00:18<00:08, 18.31it/s]
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 69%|######8   | 343/500 [00:18<00:08, 18.37it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.42it/s]
 69%|######9   | 347/500 [00:19<00:08, 18.36it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.42it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.51it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.35it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.31it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.43it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.46it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.41it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.45it/s]
 73%|#######3  | 365/500 [00:20<00:07, 18.44it/s]
 73%|#######3  | 367/500 [00:20<00:07, 18.38it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.37it/s]
 81%|########  | 403/500 [00:22<00:05, 18.32it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.30it/s]
 81%|########1 | 407/500 [00:22<00:05, 18.33it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.56it/s]
 91%|#########1| 457/500 [00:25<00:02, 18.51it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.59it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.54it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.62it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.52it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.63it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.63it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.61it/s]
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 95%|#########5| 477/500 [00:26<00:01, 18.68it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.64it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.64it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.65it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.59it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.65it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.55it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.55it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.47it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.51it/s]
100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 99
-{
-    "Log_Likelihood": 19.111069129943846,
-    "Loss": -19.111069129943846,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3797.666116144347,
-    "Time_Data_Loading": 0.02304947773615519,
-    "Time_Epoch": 0.4579083800315857,
-    "Time_Log_Info": 0.010216450691223145,
-    "Time_Process_Batch": 0.022562170028686525,
-    "Time_Train_Batch": 0.399053156375885
-}
-
-Epoch 99 Memory Usage: 3166 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:56,  4.27it/s]
  1%|          | 3/500 [00:00<00:50,  9.92it/s]
  1%|1         | 5/500 [00:00<00:37, 13.06it/s]
  1%|1         | 7/500 [00:00<00:33, 14.89it/s]
  2%|1         | 9/500 [00:00<00:30, 16.06it/s]
  2%|2         | 11/500 [00:00<00:29, 16.80it/s]
  3%|2         | 13/500 [00:00<00:28, 17.39it/s]
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  4%|3         | 19/500 [00:01<00:26, 18.22it/s]
  4%|4         | 21/500 [00:01<00:26, 18.26it/s]
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  7%|6         | 33/500 [00:01<00:25, 18.26it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.50it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.37it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.39it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.57it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.63it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.73it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.61it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.63it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.41it/s]
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 26%|##5       | 129/500 [00:07<00:20, 18.41it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.46it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.51it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.50it/s]
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 29%|##9       | 147/500 [00:08<00:18, 18.58it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.56it/s]
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-Train Epoch 100
-{
-    "Log_Likelihood": 19.15340241241455,
-    "Loss": -19.15340241241455,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3550.7016092450463,
-    "Time_Data_Loading": 0.022777907053629556,
-    "Time_Epoch": 0.4570099433263143,
-    "Time_Log_Info": 0.010268568992614746,
-    "Time_Process_Batch": 0.022281134128570558,
-    "Time_Train_Batch": 0.3987427830696106
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_100.pth
-
-Epoch 100 Memory Usage: 3167 MB
-
-
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 48%|####7     | 239/500 [00:13<00:14, 18.30it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.55it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.58it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.54it/s]
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 54%|#####3    | 269/500 [00:14<00:12, 18.57it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.54it/s]
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 55%|#####5    | 275/500 [00:15<00:12, 18.51it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.48it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.58it/s]
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 59%|#####9    | 297/500 [00:16<00:11, 18.29it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.64it/s]
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 62%|######1   | 309/500 [00:16<00:10, 18.57it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.55it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.36it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.51it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.44it/s]
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 69%|######9   | 345/500 [00:18<00:08, 18.61it/s]
 69%|######9   | 347/500 [00:19<00:08, 18.57it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.50it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.48it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.44it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.28it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.28it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.23it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.43it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.45it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.37it/s]
 81%|########  | 403/500 [00:22<00:05, 18.44it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.45it/s]
 81%|########1 | 407/500 [00:22<00:05, 18.51it/s]
 82%|########1 | 409/500 [00:22<00:04, 18.54it/s]
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 83%|########2 | 413/500 [00:22<00:04, 18.53it/s]
 83%|########2 | 415/500 [00:22<00:04, 18.64it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.58it/s]
 91%|######### | 453/500 [00:24<00:02, 18.48it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.44it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.54it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.57it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.49it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.40it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.43it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.47it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.43it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.51it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.53it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.55it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.38it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.36it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.24it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.40it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.38it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.39it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.34it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.47it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.50it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.52it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.53it/s]
100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 101
-{
-    "Log_Likelihood": 19.140356803894043,
-    "Loss": -19.140356803894043,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3656.9819529824595,
-    "Time_Data_Loading": 0.02325600783030192,
-    "Time_Epoch": 0.4570961117744446,
-    "Time_Log_Info": 0.01025089422861735,
-    "Time_Process_Batch": 0.022199777762095134,
-    "Time_Train_Batch": 0.398328693707784
-}
-
-Epoch 101 Memory Usage: 3167 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:14,  3.70it/s]
  1%|          | 3/500 [00:00<00:54,  9.10it/s]
  1%|1         | 5/500 [00:00<00:40, 12.32it/s]
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  2%|1         | 9/500 [00:00<00:31, 15.77it/s]
  2%|2         | 11/500 [00:00<00:29, 16.70it/s]
  3%|2         | 13/500 [00:00<00:28, 17.31it/s]
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  6%|5         | 29/500 [00:01<00:25, 18.43it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.52it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.60it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.65it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.66it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.60it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.53it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 102
-{
-    "Log_Likelihood": 19.118568355560303,
-    "Loss": -19.118568355560303,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3582.4242078615453,
-    "Time_Data_Loading": 0.0226068377494812,
-    "Time_Epoch": 0.4567917386690776,
-    "Time_Log_Info": 0.010243157545725504,
-    "Time_Process_Batch": 0.02227017084757487,
-    "Time_Train_Batch": 0.3985836386680603
-}
-
-Epoch 102 Memory Usage: 3167 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.28it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 103
-{
-    "Log_Likelihood": 19.125913753509522,
-    "Loss": -19.125913753509522,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3521.2328964507215,
-    "Time_Data_Loading": 0.02275752623875936,
-    "Time_Epoch": 0.4571968833605448,
-    "Time_Log_Info": 0.010268449783325195,
-    "Time_Process_Batch": 0.02205755313237508,
-    "Time_Train_Batch": 0.39892441829045616
-}
-
-Epoch 103 Memory Usage: 3167 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 104
-{
-    "Log_Likelihood": 19.157344974517823,
-    "Loss": -19.157344974517823,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3395.7930554721934,
-    "Time_Data_Loading": 0.02316261132558187,
-    "Time_Epoch": 0.45722869634628294,
-    "Time_Log_Info": 0.01027148962020874,
-    "Time_Process_Batch": 0.02199935515721639,
-    "Time_Train_Batch": 0.3988141417503357
-}
-
-Epoch 104 Memory Usage: 3168 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 105
-{
-    "Log_Likelihood": 19.1574249458313,
-    "Loss": -19.1574249458313,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3380.333914614941,
-    "Time_Data_Loading": 0.023330827554066975,
-    "Time_Epoch": 0.4569105903307597,
-    "Time_Log_Info": 0.01028066873550415,
-    "Time_Process_Batch": 0.022039790948232014,
-    "Time_Train_Batch": 0.39839032491048176
-}
-
-Epoch 105 Memory Usage: 3168 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 106
-{
-    "Log_Likelihood": 19.14581280517578,
-    "Loss": -19.14581280517578,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3268.385368691968,
-    "Time_Data_Loading": 0.023294234275817872,
-    "Time_Epoch": 0.4570442080497742,
-    "Time_Log_Info": 0.01027756929397583,
-    "Time_Process_Batch": 0.022224477926890054,
-    "Time_Train_Batch": 0.3981964906056722
-}
-
-Epoch 106 Memory Usage: 3169 MB
-
-
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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 107
-{
-    "Log_Likelihood": 19.19760549545288,
-    "Loss": -19.19760549545288,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3282.791183107273,
-    "Time_Data_Loading": 0.02221335967381795,
-    "Time_Epoch": 0.4564186453819275,
-    "Time_Log_Info": 0.010251545906066894,
-    "Time_Process_Batch": 0.022308544317881266,
-    "Time_Train_Batch": 0.3985956311225891
-}
-
-Epoch 107 Memory Usage: 3169 MB
-
-
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 13%|#3        | 65/500 [00:03<00:23, 18.45it/s]
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 14%|#3        | 69/500 [00:03<00:23, 18.45it/s]
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 24%|##3       | 119/500 [00:06<00:20, 18.51it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.57it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.44it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.53it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.54it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.53it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.57it/s]
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 71%|#######   | 353/500 [00:19<00:07, 18.44it/s]
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 98%|#########7| 489/500 [00:26<00:00, 18.41it/s]
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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 108
-{
-    "Log_Likelihood": 19.19634789276123,
-    "Loss": -19.19634789276123,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3188.3125699195807,
-    "Time_Data_Loading": 0.02279496192932129,
-    "Time_Epoch": 0.456956418355306,
-    "Time_Log_Info": 0.010260939598083496,
-    "Time_Process_Batch": 0.022349925835927327,
-    "Time_Train_Batch": 0.39850801626841226
-}
-
-Epoch 108 Memory Usage: 3169 MB
-
-
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  0%|          | 1/500 [00:00<01:51,  4.47it/s]
  1%|          | 3/500 [00:00<00:48, 10.25it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.33it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 109
-{
-    "Log_Likelihood": 19.22652072906494,
-    "Loss": -19.22652072906494,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3289.9076411956385,
-    "Time_Data_Loading": 0.021877054373423258,
-    "Time_Epoch": 0.4560913403828939,
-    "Time_Log_Info": 0.010250488917032877,
-    "Time_Process_Batch": 0.02230839729309082,
-    "Time_Train_Batch": 0.39872963428497316
-}
-
-Epoch 109 Memory Usage: 3170 MB
-
-
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 38%|###7      | 189/500 [00:10<00:16, 18.34it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.40it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.57it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.33it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.31it/s]
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 53%|#####2    | 263/500 [00:14<00:12, 18.48it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.54it/s]
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 62%|######1   | 309/500 [00:17<00:10, 18.54it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.49it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.27it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.28it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.34it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.49it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.43it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.49it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.50it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.55it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.52it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.45it/s]
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 81%|########1 | 405/500 [00:22<00:05, 18.60it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.54it/s]
 91%|######### | 453/500 [00:24<00:02, 18.44it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.43it/s]
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 92%|#########1| 459/500 [00:25<00:02, 18.50it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.50it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.41it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.40it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.29it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.40it/s]
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 95%|#########5| 477/500 [00:26<00:01, 18.47it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.46it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.53it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.41it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.33it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.27it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.31it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.41it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 110
-{
-    "Log_Likelihood": 19.19835242843628,
-    "Loss": -19.19835242843628,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3147.589601561034,
-    "Time_Data_Loading": 0.02343831459681193,
-    "Time_Epoch": 0.45786046981811523,
-    "Time_Log_Info": 0.010244611899058025,
-    "Time_Process_Batch": 0.02232738733291626,
-    "Time_Train_Batch": 0.3989090124766032
-}
-
-Epoch 110 Memory Usage: 3169 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:06,  3.96it/s]
  1%|          | 3/500 [00:00<00:52,  9.49it/s]
  1%|1         | 5/500 [00:00<00:42, 11.71it/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, 18.56it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.64it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 111
-{
-    "Log_Likelihood": 19.217607334136964,
-    "Loss": -19.217607334136964,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3261.901723309023,
-    "Time_Data_Loading": 0.023145870367685954,
-    "Time_Epoch": 0.45732061862945556,
-    "Time_Log_Info": 0.010267412662506104,
-    "Time_Process_Batch": 0.022159047921498618,
-    "Time_Train_Batch": 0.39851195017496743
-}
-
-Epoch 111 Memory Usage: 3170 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:08,  3.88it/s]
  1%|          | 3/500 [00:00<00:52,  9.39it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.64it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 112
-{
-    "Log_Likelihood": 19.23990386581421,
-    "Loss": -19.23990386581421,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3000.6542871028155,
-    "Time_Data_Loading": 0.022558748722076416,
-    "Time_Epoch": 0.45597143173217775,
-    "Time_Log_Info": 0.010270162423451742,
-    "Time_Process_Batch": 0.022177056471506754,
-    "Time_Train_Batch": 0.39795801242192586
-}
-
-Epoch 112 Memory Usage: 3171 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 113
-{
-    "Log_Likelihood": 19.235626502990723,
-    "Loss": -19.235626502990723,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3060.995751016466,
-    "Time_Data_Loading": 0.023095019658406577,
-    "Time_Epoch": 0.457096008459727,
-    "Time_Log_Info": 0.010266236464182536,
-    "Time_Process_Batch": 0.02246618668238322,
-    "Time_Train_Batch": 0.39815487861633303
-}
-
-Epoch 113 Memory Usage: 3171 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.30it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 114
-{
-    "Log_Likelihood": 19.254948585510252,
-    "Loss": -19.254948585510252,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 3095.9277992856028,
-    "Time_Data_Loading": 0.02275641361872355,
-    "Time_Epoch": 0.4571330746014913,
-    "Time_Log_Info": 0.010249308745066325,
-    "Time_Process_Batch": 0.022649081548055013,
-    "Time_Train_Batch": 0.3985227743784587
-}
-
-Epoch 114 Memory Usage: 3171 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.23it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 115
-{
-    "Log_Likelihood": 19.268014705657958,
-    "Loss": -19.268014705657958,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2921.3365797238425,
-    "Time_Data_Loading": 0.023200615247090658,
-    "Time_Epoch": 0.45797893206278484,
-    "Time_Log_Info": 0.01025916337966919,
-    "Time_Process_Batch": 0.022627027829488118,
-    "Time_Train_Batch": 0.3988006591796875
-}
-
-Epoch 115 Memory Usage: 3171 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 116
-{
-    "Log_Likelihood": 19.321047843933105,
-    "Loss": -19.321047843933105,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2971.9629251114598,
-    "Time_Data_Loading": 0.023077925046284992,
-    "Time_Epoch": 0.4578670382499695,
-    "Time_Log_Info": 0.010243300596872966,
-    "Time_Process_Batch": 0.022549986839294434,
-    "Time_Train_Batch": 0.398954176902771
-}
-
-Epoch 116 Memory Usage: 3172 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 117
-{
-    "Log_Likelihood": 19.29117339706421,
-    "Loss": -19.29117339706421,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2902.344027646324,
-    "Time_Data_Loading": 0.023234419027964272,
-    "Time_Epoch": 0.45684221585591633,
-    "Time_Log_Info": 0.010275002320607502,
-    "Time_Process_Batch": 0.022393631935119628,
-    "Time_Train_Batch": 0.39791242678960165
-}
-
-Epoch 117 Memory Usage: 3172 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 118
-{
-    "Log_Likelihood": 19.299643115997313,
-    "Loss": -19.299643115997313,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2900.2714254385082,
-    "Time_Data_Loading": 0.023089281717936196,
-    "Time_Epoch": 0.45742953221003213,
-    "Time_Log_Info": 0.010246050357818604,
-    "Time_Process_Batch": 0.022603197892506918,
-    "Time_Train_Batch": 0.39835989475250244
-}
-
-Epoch 118 Memory Usage: 3172 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 119
-{
-    "Log_Likelihood": 19.299632511138917,
-    "Loss": -19.299632511138917,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2864.951203627336,
-    "Time_Data_Loading": 0.022807892163594565,
-    "Time_Epoch": 0.45676563183466595,
-    "Time_Log_Info": 0.010257975260416666,
-    "Time_Process_Batch": 0.022218855222066243,
-    "Time_Train_Batch": 0.3985288659731547
-}
-
-Epoch 119 Memory Usage: 3172 MB
-
-
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-Train Epoch 120
-{
-    "Log_Likelihood": 19.31882795715332,
-    "Loss": -19.31882795715332,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2724.304410313537,
-    "Time_Data_Loading": 0.02307118574778239,
-    "Time_Epoch": 0.45746651887893675,
-    "Time_Log_Info": 0.010264496008555094,
-    "Time_Process_Batch": 0.022586031754811605,
-    "Time_Train_Batch": 0.39864781697591145
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_120.pth
-
-Epoch 120 Memory Usage: 3173 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
-Train Epoch 121
-{
-    "Log_Likelihood": 19.27882572555542,
-    "Loss": -19.27882572555542,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2806.685426431156,
-    "Time_Data_Loading": 0.02168317635854085,
-    "Time_Epoch": 0.45546247959136965,
-    "Time_Log_Info": 0.01027526060740153,
-    "Time_Process_Batch": 0.02196056842803955,
-    "Time_Train_Batch": 0.3985146681467692
-}
-
-Epoch 121 Memory Usage: 3174 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 122
-{
-    "Log_Likelihood": 19.317931671142578,
-    "Loss": -19.317931671142578,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2823.237263008202,
-    "Time_Data_Loading": 0.02238932450612386,
-    "Time_Epoch": 0.45648444890975953,
-    "Time_Log_Info": 0.010254565874735515,
-    "Time_Process_Batch": 0.022126193841298422,
-    "Time_Train_Batch": 0.3987528920173645
-}
-
-Epoch 122 Memory Usage: 3174 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.24it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 123
-{
-    "Log_Likelihood": 19.332088581085205,
-    "Loss": -19.332088581085205,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2706.4174571851345,
-    "Time_Data_Loading": 0.022070133686065675,
-    "Time_Epoch": 0.45572646458943683,
-    "Time_Log_Info": 0.01024851401646932,
-    "Time_Process_Batch": 0.022148263454437257,
-    "Time_Train_Batch": 0.3982328732808431
-}
-
-Epoch 123 Memory Usage: 3174 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 124
-{
-    "Log_Likelihood": 19.32643320083618,
-    "Loss": -19.32643320083618,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2636.4072868474414,
-    "Time_Data_Loading": 0.021955891450246175,
-    "Time_Epoch": 0.45556027491887413,
-    "Time_Log_Info": 0.010247755050659179,
-    "Time_Process_Batch": 0.022062512238820393,
-    "Time_Train_Batch": 0.3982820232709249
-}
-
-Epoch 124 Memory Usage: 3174 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 125
-{
-    "Log_Likelihood": 19.3353046836853,
-    "Loss": -19.3353046836853,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2600.888736304939,
-    "Time_Data_Loading": 0.0230250875155131,
-    "Time_Epoch": 0.45684860547383627,
-    "Time_Log_Info": 0.01022880474726359,
-    "Time_Process_Batch": 0.02218646208445231,
-    "Time_Train_Batch": 0.3983916163444519
-}
-
-Epoch 125 Memory Usage: 3174 MB
-
-
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  2%|2         | 11/500 [00:00<00:29, 16.41it/s]
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 14%|#3        | 69/500 [00:03<00:23, 18.62it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 126
-{
-    "Log_Likelihood": 19.36674835586548,
-    "Loss": -19.36674835586548,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2689.2438579192185,
-    "Time_Data_Loading": 0.023460992177327476,
-    "Time_Epoch": 0.456934654712677,
-    "Time_Log_Info": 0.010256016254425048,
-    "Time_Process_Batch": 0.022161396344502766,
-    "Time_Train_Batch": 0.3981356700261434
-}
-
-Epoch 126 Memory Usage: 3175 MB
-
-
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 15%|#4        | 73/500 [00:04<00:23, 18.51it/s]
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 22%|##2       | 111/500 [00:06<00:20, 18.55it/s]
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 24%|##3       | 119/500 [00:06<00:20, 18.58it/s]
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 33%|###2      | 163/500 [00:08<00:18, 18.35it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.46it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.47it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.46it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.49it/s]
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 53%|#####2    | 263/500 [00:14<00:12, 18.49it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.51it/s]
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 63%|######2   | 313/500 [00:17<00:10, 18.44it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.37it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.25it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.38it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.39it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.49it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.43it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 127
-{
-    "Log_Likelihood": 19.38200885772705,
-    "Loss": -19.38200885772705,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2802.094219515036,
-    "Time_Data_Loading": 0.02225078344345093,
-    "Time_Epoch": 0.45652403831481936,
-    "Time_Log_Info": 0.010244659582773845,
-    "Time_Process_Batch": 0.022279747327168784,
-    "Time_Train_Batch": 0.3987481117248535
-}
-
-Epoch 127 Memory Usage: 3176 MB
-
-
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  0%|          | 1/500 [00:00<01:48,  4.59it/s]
  1%|          | 3/500 [00:00<00:48, 10.22it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.64it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 128
-{
-    "Log_Likelihood": 19.378979011535645,
-    "Loss": -19.378979011535645,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2565.4333352367703,
-    "Time_Data_Loading": 0.02204264005025228,
-    "Time_Epoch": 0.4556223193804423,
-    "Time_Log_Info": 0.010242525736490886,
-    "Time_Process_Batch": 0.022093788782755534,
-    "Time_Train_Batch": 0.3983094652493795
-}
-
-Epoch 128 Memory Usage: 3176 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 129
-{
-    "Log_Likelihood": 19.394232891082762,
-    "Loss": -19.394232891082762,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2574.585204940854,
-    "Time_Data_Loading": 0.02249817450841268,
-    "Time_Epoch": 0.4569005250930786,
-    "Time_Log_Info": 0.01020890474319458,
-    "Time_Process_Batch": 0.022420926888783773,
-    "Time_Train_Batch": 0.3988476077715556
-}
-
-Epoch 129 Memory Usage: 3176 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 130
-{
-    "Log_Likelihood": 19.39977275466919,
-    "Loss": -19.39977275466919,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2522.5544644103456,
-    "Time_Data_Loading": 0.023229507605234782,
-    "Time_Epoch": 0.4570130228996277,
-    "Time_Log_Info": 0.010239632924397786,
-    "Time_Process_Batch": 0.022232099374135336,
-    "Time_Train_Batch": 0.39833515087763466
-}
-
-Epoch 130 Memory Usage: 3176 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
-Train Epoch 131
-{
-    "Log_Likelihood": 19.420105899810792,
-    "Loss": -19.420105899810792,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2515.621616504661,
-    "Time_Data_Loading": 0.02369856039683024,
-    "Time_Epoch": 0.45813485781351726,
-    "Time_Log_Info": 0.010248982906341552,
-    "Time_Process_Batch": 0.022515396277109783,
-    "Time_Train_Batch": 0.39879292249679565
-}
-
-Epoch 131 Memory Usage: 3177 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.25it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 132
-{
-    "Log_Likelihood": 19.388129314422606,
-    "Loss": -19.388129314422606,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2533.590487394759,
-    "Time_Data_Loading": 0.02307279904683431,
-    "Time_Epoch": 0.4569182833035787,
-    "Time_Log_Info": 0.010246725877126057,
-    "Time_Process_Batch": 0.02245241403579712,
-    "Time_Train_Batch": 0.39824854930241904
-}
-
-Epoch 132 Memory Usage: 3176 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.16it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 133
-{
-    "Log_Likelihood": 19.431085079193114,
-    "Loss": -19.431085079193114,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2479.908927041789,
-    "Time_Data_Loading": 0.022788294156392417,
-    "Time_Epoch": 0.456769061088562,
-    "Time_Log_Info": 0.010227533181508382,
-    "Time_Process_Batch": 0.022237018744150797,
-    "Time_Train_Batch": 0.39857711394627887
-}
-
-Epoch 133 Memory Usage: 3177 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 134
-{
-    "Log_Likelihood": 19.405412601470946,
-    "Loss": -19.405412601470946,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2299.4706585532986,
-    "Time_Data_Loading": 0.022885088125864664,
-    "Time_Epoch": 0.4576462666193644,
-    "Time_Log_Info": 0.010232023398081462,
-    "Time_Process_Batch": 0.02258042891820272,
-    "Time_Train_Batch": 0.398729407787323
-}
-
-Epoch 134 Memory Usage: 3177 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.29it/s]
-Train Epoch 135
-{
-    "Log_Likelihood": 19.412856033325195,
-    "Loss": -19.412856033325195,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2496.7928849770324,
-    "Time_Data_Loading": 0.02392964760462443,
-    "Time_Epoch": 0.4580902099609375,
-    "Time_Log_Info": 0.01023168961207072,
-    "Time_Process_Batch": 0.022226003805796306,
-    "Time_Train_Batch": 0.3986522197723389
-}
-
-Epoch 135 Memory Usage: 3178 MB
-
-
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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 136
-{
-    "Log_Likelihood": 19.425892692565917,
-    "Loss": -19.425892692565917,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2470.242743444636,
-    "Time_Data_Loading": 0.023310736815134684,
-    "Time_Epoch": 0.45737231175104776,
-    "Time_Log_Info": 0.010184494654337566,
-    "Time_Process_Batch": 0.022250044345855712,
-    "Time_Train_Batch": 0.3986835996309916
-}
-
-Epoch 136 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, 18.31it/s]
-Train Epoch 137
-{
-    "Log_Likelihood": 19.437274032592775,
-    "Loss": -19.437274032592775,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2345.696305618569,
-    "Time_Data_Loading": 0.023025806744893393,
-    "Time_Epoch": 0.4573566476504008,
-    "Time_Log_Info": 0.010221648216247558,
-    "Time_Process_Batch": 0.0221921443939209,
-    "Time_Train_Batch": 0.3990247925122579
-}
-
-Epoch 137 Memory Usage: 3179 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.42it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
-Train Epoch 138
-{
-    "Log_Likelihood": 19.4537908744812,
-    "Loss": -19.4537908744812,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2348.8262246697664,
-    "Time_Data_Loading": 0.02389919360478719,
-    "Time_Epoch": 0.4582884192466736,
-    "Time_Log_Info": 0.010226921240488688,
-    "Time_Process_Batch": 0.02238689661026001,
-    "Time_Train_Batch": 0.39881351788838704
-}
-
-Epoch 138 Memory Usage: 3179 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 139
-{
-    "Log_Likelihood": 19.45737540435791,
-    "Loss": -19.45737540435791,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2341.6337669889954,
-    "Time_Data_Loading": 0.0232949693997701,
-    "Time_Epoch": 0.4573746999104818,
-    "Time_Log_Info": 0.010245744387308757,
-    "Time_Process_Batch": 0.022400077184041342,
-    "Time_Train_Batch": 0.39848769903182985
-}
-
-Epoch 139 Memory Usage: 3179 MB
-
-
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-Train Epoch 140
-{
-    "Log_Likelihood": 19.449480613708495,
-    "Loss": -19.449480613708495,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2447.068870312145,
-    "Time_Data_Loading": 0.022560322284698488,
-    "Time_Epoch": 0.45664183298746747,
-    "Time_Log_Info": 0.01022854248682658,
-    "Time_Process_Batch": 0.02261595328648885,
-    "Time_Train_Batch": 0.3982302149136861
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_140.pth
-
-Epoch 140 Memory Usage: 3180 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.64it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 141
-{
-    "Log_Likelihood": 19.459214096069335,
-    "Loss": -19.459214096069335,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2453.934220848585,
-    "Time_Data_Loading": 0.023511993885040283,
-    "Time_Epoch": 0.456884503364563,
-    "Time_Log_Info": 0.01022788683573405,
-    "Time_Process_Batch": 0.02201964855194092,
-    "Time_Train_Batch": 0.39811126788457235
-}
-
-Epoch 141 Memory Usage: 3181 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 142
-{
-    "Log_Likelihood": 19.496870140075682,
-    "Loss": -19.496870140075682,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2360.5784186407363,
-    "Time_Data_Loading": 0.022834344704945882,
-    "Time_Epoch": 0.45771758556365966,
-    "Time_Log_Info": 0.010219645500183106,
-    "Time_Process_Batch": 0.022246801853179933,
-    "Time_Train_Batch": 0.39929172992706297
-}
-
-Epoch 142 Memory Usage: 3181 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 143
-{
-    "Log_Likelihood": 19.480181640625,
-    "Loss": -19.480181640625,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2217.689327394876,
-    "Time_Data_Loading": 0.023059388001759846,
-    "Time_Epoch": 0.4573109745979309,
-    "Time_Log_Info": 0.010230600833892822,
-    "Time_Process_Batch": 0.02211262782414754,
-    "Time_Train_Batch": 0.39882028500239053
-}
-
-Epoch 143 Memory Usage: 3181 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.23it/s]
-Train Epoch 144
-{
-    "Log_Likelihood": 19.48261023712158,
-    "Loss": -19.48261023712158,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2409.096013588175,
-    "Time_Data_Loading": 0.024957931041717528,
-    "Time_Epoch": 0.45954368114471433,
-    "Time_Log_Info": 0.010213120778401693,
-    "Time_Process_Batch": 0.02276679277420044,
-    "Time_Train_Batch": 0.3985648592313131
-}
-
-Epoch 144 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, 18.32it/s]
-Train Epoch 145
-{
-    "Log_Likelihood": 19.499461837768553,
-    "Loss": -19.499461837768553,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2177.627278721545,
-    "Time_Data_Loading": 0.02344535986582438,
-    "Time_Epoch": 0.45756417512893677,
-    "Time_Log_Info": 0.010185964902242025,
-    "Time_Process_Batch": 0.0221674640973409,
-    "Time_Train_Batch": 0.3984444459279378
-}
-
-Epoch 145 Memory Usage: 3181 MB
-
-
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 50%|#####     | 251/500 [00:13<00:13, 18.53it/s]
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 51%|#####1    | 255/500 [00:13<00:13, 18.56it/s]
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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 146
-{
-    "Log_Likelihood": 19.544363780975342,
-    "Loss": -19.544363780975342,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2366.1456911450496,
-    "Time_Data_Loading": 0.02296771208445231,
-    "Time_Epoch": 0.45685566663742067,
-    "Time_Log_Info": 0.010245466232299804,
-    "Time_Process_Batch": 0.022140332063039145,
-    "Time_Train_Batch": 0.39856001138687136
-}
-
-Epoch 146 Memory Usage: 3181 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 147
-{
-    "Log_Likelihood": 19.52666961669922,
-    "Loss": -19.52666961669922,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2152.3448522803906,
-    "Time_Data_Loading": 0.022120384375254314,
-    "Time_Epoch": 0.4569047053654989,
-    "Time_Log_Info": 0.0102006196975708,
-    "Time_Process_Batch": 0.022411139806111653,
-    "Time_Train_Batch": 0.3991466840108236
-}
-
-Epoch 147 Memory Usage: 3182 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 148
-{
-    "Log_Likelihood": 19.54070351409912,
-    "Loss": -19.54070351409912,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2250.1340260583397,
-    "Time_Data_Loading": 0.023459688822428385,
-    "Time_Epoch": 0.45752840042114257,
-    "Time_Log_Info": 0.010201474030812582,
-    "Time_Process_Batch": 0.022314274311065675,
-    "Time_Train_Batch": 0.3985188404719035
-}
-
-Epoch 148 Memory Usage: 3183 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.29it/s]
-Train Epoch 149
-{
-    "Log_Likelihood": 19.565324451446532,
-    "Loss": -19.565324451446532,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2175.299294753632,
-    "Time_Data_Loading": 0.02366515398025513,
-    "Time_Epoch": 0.4580493966738383,
-    "Time_Log_Info": 0.010219101111094158,
-    "Time_Process_Batch": 0.022532224655151367,
-    "Time_Train_Batch": 0.3986361106236776
-}
-
-Epoch 149 Memory Usage: 3182 MB
-
-
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 97%|#########7| 487/500 [00:26<00:00, 18.51it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.52it/s]
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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 150
-{
-    "Log_Likelihood": 19.57476746749878,
-    "Loss": -19.57476746749878,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2256.8242285823367,
-    "Time_Data_Loading": 0.023003017902374266,
-    "Time_Epoch": 0.45739566485087074,
-    "Time_Log_Info": 0.010222995281219482,
-    "Time_Process_Batch": 0.02222317854563395,
-    "Time_Train_Batch": 0.39899425903956093
-}
-
-Epoch 150 Memory Usage: 3183 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:43,  4.82it/s]
  1%|          | 3/500 [00:00<00:52,  9.40it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 151
-{
-    "Log_Likelihood": 19.56518112182617,
-    "Loss": -19.56518112182617,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2273.6438501683183,
-    "Time_Data_Loading": 0.02257981300354004,
-    "Time_Epoch": 0.45674476623535154,
-    "Time_Log_Info": 0.010182666778564452,
-    "Time_Process_Batch": 0.022121667861938477,
-    "Time_Train_Batch": 0.3988298177719116
-}
-
-Epoch 151 Memory Usage: 3184 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 152
-{
-    "Log_Likelihood": 19.59406679916382,
-    "Loss": -19.59406679916382,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2069.0844006397597,
-    "Time_Data_Loading": 0.023103733857472736,
-    "Time_Epoch": 0.4572137236595154,
-    "Time_Log_Info": 0.010201386610666911,
-    "Time_Process_Batch": 0.0224625031153361,
-    "Time_Train_Batch": 0.398456871509552
-}
-
-Epoch 152 Memory Usage: 3185 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 153
-{
-    "Log_Likelihood": 19.606075241088867,
-    "Loss": -19.606075241088867,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2064.3714428560543,
-    "Time_Data_Loading": 0.022788675626118977,
-    "Time_Epoch": 0.456980836391449,
-    "Time_Log_Info": 0.010196848710378011,
-    "Time_Process_Batch": 0.022347521781921387,
-    "Time_Train_Batch": 0.39861568609873455
-}
-
-Epoch 153 Memory Usage: 3185 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 154
-{
-    "Log_Likelihood": 19.58122393798828,
-    "Loss": -19.58122393798828,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2284.669895218983,
-    "Time_Data_Loading": 0.022915140787760416,
-    "Time_Epoch": 0.4567198236783346,
-    "Time_Log_Info": 0.010218997796376547,
-    "Time_Process_Batch": 0.022272654374440513,
-    "Time_Train_Batch": 0.3982659975687663
-}
-
-Epoch 154 Memory Usage: 3185 MB
-
-
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 12%|#2        | 61/500 [00:03<00:23, 18.52it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.53it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.57it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.66it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.55it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.53it/s]
 15%|#4        | 73/500 [00:04<00:22, 18.59it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.57it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.58it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.64it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.61it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.58it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.51it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.52it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.52it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.48it/s]
 19%|#8        | 93/500 [00:05<00:22, 18.48it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.40it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.39it/s]
 21%|##1       | 107/500 [00:06<00:21, 18.49it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.40it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.46it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.44it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.52it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.49it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.51it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.50it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.51it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.34it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.40it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.42it/s]
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 27%|##7       | 137/500 [00:07<00:19, 18.54it/s]
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 28%|##8       | 141/500 [00:07<00:19, 18.49it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.57it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.27it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.36it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.32it/s]
 30%|###       | 151/500 [00:08<00:19, 18.34it/s]
 31%|###       | 153/500 [00:08<00:19, 18.12it/s]
 31%|###1      | 155/500 [00:08<00:19, 17.99it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.06it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.27it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.10it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.05it/s]
 34%|###3      | 169/500 [00:09<00:18, 18.08it/s]
 34%|###4      | 171/500 [00:09<00:18, 18.09it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.19it/s]
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 38%|###7      | 189/500 [00:10<00:16, 18.32it/s]
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 39%|###9      | 195/500 [00:10<00:16, 18.23it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.01it/s]
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 43%|####3     | 217/500 [00:12<00:15, 18.28it/s]
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 48%|####7     | 239/500 [00:13<00:14, 18.50it/s]
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 49%|####8     | 243/500 [00:13<00:14, 18.26it/s]
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 49%|####9     | 247/500 [00:13<00:13, 18.28it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.20it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.30it/s]
 51%|#####     | 253/500 [00:14<00:13, 18.47it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.42it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.40it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.22it/s]
 52%|#####2    | 261/500 [00:14<00:13, 18.28it/s]
 53%|#####2    | 263/500 [00:14<00:13, 18.20it/s]
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 54%|#####3    | 269/500 [00:14<00:12, 18.31it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.33it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.34it/s]
 62%|######1   | 309/500 [00:17<00:10, 18.34it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.27it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.45it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.35it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.36it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.39it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.46it/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, 18.58it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.60it/s]
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 93%|#########2| 463/500 [00:25<00:02, 18.27it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.34it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.47it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.36it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.40it/s]
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 95%|#########5| 475/500 [00:26<00:01, 18.52it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.50it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.49it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.58it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.67it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.68it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.64it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.58it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.35it/s]
 99%|#########8| 493/500 [00:27<00:00, 18.45it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.35it/s]
100%|##########| 500/500 [00:27<00:00, 18.24it/s]
-Train Epoch 155
-{
-    "Log_Likelihood": 19.58776404953003,
-    "Loss": -19.58776404953003,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2021.6890280738585,
-    "Time_Data_Loading": 0.023800528049468993,
-    "Time_Epoch": 0.4592679937680562,
-    "Time_Log_Info": 0.010158741474151611,
-    "Time_Process_Batch": 0.022730509440104168,
-    "Time_Train_Batch": 0.3995680054028829
-}
-
-Epoch 155 Memory Usage: 3185 MB
-
-
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  0%|          | 1/500 [00:00<02:36,  3.19it/s]
  1%|          | 3/500 [00:00<00:59,  8.31it/s]
  1%|1         | 5/500 [00:00<00:43, 11.43it/s]
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  2%|1         | 9/500 [00:00<00:32, 15.19it/s]
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  3%|2         | 13/500 [00:00<00:28, 16.97it/s]
  3%|3         | 15/500 [00:01<00:27, 17.59it/s]
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  4%|4         | 21/500 [00:01<00:26, 18.00it/s]
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 22%|##2       | 111/500 [00:06<00:21, 18.52it/s]
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 23%|##3       | 115/500 [00:06<00:20, 18.44it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.44it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.45it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 156
-{
-    "Log_Likelihood": 19.58799945449829,
-    "Loss": -19.58799945449829,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2080.9482431457695,
-    "Time_Data_Loading": 0.02387558619181315,
-    "Time_Epoch": 0.4576730648676554,
-    "Time_Log_Info": 0.010205817222595216,
-    "Time_Process_Batch": 0.022118763128916422,
-    "Time_Train_Batch": 0.3981627821922302
-}
-
-Epoch 156 Memory Usage: 3186 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 157
-{
-    "Log_Likelihood": 19.608783878326417,
-    "Loss": -19.608783878326417,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2000.7993686331947,
-    "Time_Data_Loading": 0.0229374090830485,
-    "Time_Epoch": 0.45728877782821653,
-    "Time_Log_Info": 0.010183938344319661,
-    "Time_Process_Batch": 0.022455910841623943,
-    "Time_Train_Batch": 0.398610516389211
-}
-
-Epoch 157 Memory Usage: 3186 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 158
-{
-    "Log_Likelihood": 19.589069721221925,
-    "Loss": -19.589069721221925,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2237.731300247876,
-    "Time_Data_Loading": 0.022095147768656412,
-    "Time_Epoch": 0.45612086057662965,
-    "Time_Log_Info": 0.010171222686767577,
-    "Time_Process_Batch": 0.02205746571222941,
-    "Time_Train_Batch": 0.3987896720568339
-}
-
-Epoch 158 Memory Usage: 3186 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.22it/s]
-Train Epoch 159
-{
-    "Log_Likelihood": 19.657405883789064,
-    "Loss": -19.657405883789064,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2136.4344205117404,
-    "Time_Data_Loading": 0.024510407447814943,
-    "Time_Epoch": 0.4603746732076009,
-    "Time_Log_Info": 0.010102450847625732,
-    "Time_Process_Batch": 0.022316372394561766,
-    "Time_Train_Batch": 0.3999687035878499
-}
-
-Epoch 159 Memory Usage: 3187 MB
-
-
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-Train Epoch 160
-{
-    "Log_Likelihood": 19.64473717880249,
-    "Loss": -19.64473717880249,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2060.0738547537426,
-    "Time_Data_Loading": 0.02247894605000814,
-    "Time_Epoch": 0.45669971307118734,
-    "Time_Log_Info": 0.010188015302022298,
-    "Time_Process_Batch": 0.022081307570139565,
-    "Time_Train_Batch": 0.3989905754725138
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_160.pth
-
-Epoch 160 Memory Usage: 3187 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 161
-{
-    "Log_Likelihood": 19.67243732070923,
-    "Loss": -19.67243732070923,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2125.2248593770832,
-    "Time_Data_Loading": 0.022863709926605226,
-    "Time_Epoch": 0.45684272845586144,
-    "Time_Log_Info": 0.010209945837656657,
-    "Time_Process_Batch": 0.021914589405059814,
-    "Time_Train_Batch": 0.39880163272221886
-}
-
-Epoch 161 Memory Usage: 3204 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 162
-{
-    "Log_Likelihood": 19.661517597198486,
-    "Loss": -19.661517597198486,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2149.551770472156,
-    "Time_Data_Loading": 0.022937933603922527,
-    "Time_Epoch": 0.45697044928868613,
-    "Time_Log_Info": 0.010180203119913737,
-    "Time_Process_Batch": 0.022553658485412596,
-    "Time_Train_Batch": 0.3982553680737813
-}
-
-Epoch 162 Memory Usage: 3204 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 163
-{
-    "Log_Likelihood": 19.654449405670167,
-    "Loss": -19.654449405670167,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1965.026402577952,
-    "Time_Data_Loading": 0.02329062223434448,
-    "Time_Epoch": 0.4574603001276652,
-    "Time_Log_Info": 0.010225009918212891,
-    "Time_Process_Batch": 0.022194488843282064,
-    "Time_Train_Batch": 0.39872696399688723
-}
-
-Epoch 163 Memory Usage: 3204 MB
-
-
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 10%|9         | 49/500 [00:02<00:24, 18.41it/s]
 10%|#         | 51/500 [00:02<00:24, 18.54it/s]
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 11%|#1        | 55/500 [00:03<00:23, 18.60it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.69it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.58it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.56it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.54it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.58it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.64it/s]
 15%|#4        | 73/500 [00:04<00:22, 18.59it/s]
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 16%|#5        | 79/500 [00:04<00:22, 18.50it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.56it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.58it/s]
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 17%|#7        | 87/500 [00:04<00:22, 18.54it/s]
 18%|#7        | 89/500 [00:04<00:22, 18.53it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.57it/s]
 19%|#8        | 93/500 [00:05<00:22, 18.49it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.58it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.40it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.27it/s]
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 23%|##3       | 115/500 [00:06<00:20, 18.41it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.29it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.28it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.43it/s]
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 27%|##7       | 137/500 [00:07<00:19, 18.43it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.39it/s]
 31%|###       | 153/500 [00:08<00:18, 18.41it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.43it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.44it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.47it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.43it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.52it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.51it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.50it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.53it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.42it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.41it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.50it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.55it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.55it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.37it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.48it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.48it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.50it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.64it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.58it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.62it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.64it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.64it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 164
-{
-    "Log_Likelihood": 19.666595279693603,
-    "Loss": -19.666595279693603,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2049.832947636471,
-    "Time_Data_Loading": 0.022707831859588624,
-    "Time_Epoch": 0.45694109201431277,
-    "Time_Log_Info": 0.010219160715738933,
-    "Time_Process_Batch": 0.022204983234405517,
-    "Time_Train_Batch": 0.39888123273849485
-}
-
-Epoch 164 Memory Usage: 3205 MB
-
-
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  0%|          | 1/500 [00:00<02:25,  3.43it/s]
  1%|          | 3/500 [00:00<00:56,  8.77it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.10it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 165
-{
-    "Log_Likelihood": 19.660955600738525,
-    "Loss": -19.660955600738525,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2055.1028397242617,
-    "Time_Data_Loading": 0.023576132456461587,
-    "Time_Epoch": 0.45699156522750856,
-    "Time_Log_Info": 0.010225137074788412,
-    "Time_Process_Batch": 0.022009984652201334,
-    "Time_Train_Batch": 0.398103392124176
-}
-
-Epoch 165 Memory Usage: 3204 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 166
-{
-    "Log_Likelihood": 19.677285533905028,
-    "Loss": -19.677285533905028,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2112.5224487013743,
-    "Time_Data_Loading": 0.022369031111399332,
-    "Time_Epoch": 0.45643250942230223,
-    "Time_Log_Info": 0.010223662853240967,
-    "Time_Process_Batch": 0.02225341796875,
-    "Time_Train_Batch": 0.3985346436500549
-}
-
-Epoch 166 Memory Usage: 3204 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 167
-{
-    "Log_Likelihood": 19.674882308959962,
-    "Loss": -19.674882308959962,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2019.942755520714,
-    "Time_Data_Loading": 0.02219503323237101,
-    "Time_Epoch": 0.4556690772374471,
-    "Time_Log_Info": 0.010218687852223714,
-    "Time_Process_Batch": 0.022046164671579997,
-    "Time_Train_Batch": 0.3981873393058777
-}
-
-Epoch 167 Memory Usage: 3205 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
-Train Epoch 168
-{
-    "Log_Likelihood": 19.711004657745363,
-    "Loss": -19.711004657745363,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2042.6294781268548,
-    "Time_Data_Loading": 0.024055437246958414,
-    "Time_Epoch": 0.4582710782686869,
-    "Time_Log_Info": 0.010190693537394206,
-    "Time_Process_Batch": 0.022253262996673583,
-    "Time_Train_Batch": 0.3988256057103475
-}
-
-Epoch 168 Memory Usage: 3206 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 169
-{
-    "Log_Likelihood": 19.691430862426756,
-    "Loss": -19.691430862426756,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1894.2373783689693,
-    "Time_Data_Loading": 0.022744496663411457,
-    "Time_Epoch": 0.4567489663759867,
-    "Time_Log_Info": 0.010245144367218018,
-    "Time_Process_Batch": 0.022396568457285562,
-    "Time_Train_Batch": 0.39833428859710696
-}
-
-Epoch 169 Memory Usage: 3206 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 170
-{
-    "Log_Likelihood": 19.722803050994873,
-    "Loss": -19.722803050994873,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1946.1522284597665,
-    "Time_Data_Loading": 0.02368389368057251,
-    "Time_Epoch": 0.4572415788968404,
-    "Time_Log_Info": 0.01021946668624878,
-    "Time_Process_Batch": 0.022136886914571125,
-    "Time_Train_Batch": 0.39810961882273355
-}
-
-Epoch 170 Memory Usage: 3207 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 171
-{
-    "Log_Likelihood": 19.69302716064453,
-    "Loss": -19.69302716064453,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1972.5892295625758,
-    "Time_Data_Loading": 0.023028663794199624,
-    "Time_Epoch": 0.45693450371424355,
-    "Time_Log_Info": 0.010208674271901448,
-    "Time_Process_Batch": 0.022375865777333578,
-    "Time_Train_Batch": 0.3982278108596802
-}
-
-Epoch 171 Memory Usage: 3207 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 172
-{
-    "Log_Likelihood": 19.69685786819458,
-    "Loss": -19.69685786819458,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1991.5141545542253,
-    "Time_Data_Loading": 0.023151973883310955,
-    "Time_Epoch": 0.4576115330060323,
-    "Time_Log_Info": 0.0102263609568278,
-    "Time_Process_Batch": 0.022520029544830324,
-    "Time_Train_Batch": 0.3986208359400431
-}
-
-Epoch 172 Memory Usage: 3207 MB
-
-
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  2%|2         | 11/500 [00:00<00:30, 16.07it/s]
  3%|2         | 13/500 [00:00<00:29, 16.77it/s]
  3%|3         | 15/500 [00:01<00:27, 17.48it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 173
-{
-    "Log_Likelihood": 19.740926643371584,
-    "Loss": -19.740926643371584,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1861.3293220376102,
-    "Time_Data_Loading": 0.02369093894958496,
-    "Time_Epoch": 0.4574911594390869,
-    "Time_Log_Info": 0.010253993670145671,
-    "Time_Process_Batch": 0.022224493821461997,
-    "Time_Train_Batch": 0.39823550383249917
-}
-
-Epoch 173 Memory Usage: 3207 MB
-
-
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 33%|###2      | 163/500 [00:09<00:18, 18.46it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.63it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.53it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.56it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.50it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.59it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 174
-{
-    "Log_Likelihood": 19.710228900909424,
-    "Loss": -19.710228900909424,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1941.8231337869474,
-    "Time_Data_Loading": 0.022389741738637288,
-    "Time_Epoch": 0.45571208794911705,
-    "Time_Log_Info": 0.010247147083282471,
-    "Time_Process_Batch": 0.021795407931009928,
-    "Time_Train_Batch": 0.39825389385223386
-}
-
-Epoch 174 Memory Usage: 3207 MB
-
-
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  0%|          | 1/500 [00:00<02:08,  3.87it/s]
  1%|          | 3/500 [00:00<00:52,  9.43it/s]
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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 175
-{
-    "Log_Likelihood": 19.743098182678224,
-    "Loss": -19.743098182678224,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1953.0696512028317,
-    "Time_Data_Loading": 0.022459510962168375,
-    "Time_Epoch": 0.4562143047650655,
-    "Time_Log_Info": 0.010192680358886718,
-    "Time_Process_Batch": 0.022229484717051187,
-    "Time_Train_Batch": 0.39836329221725464
-}
-
-Epoch 175 Memory Usage: 3208 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.14it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 176
-{
-    "Log_Likelihood": 19.73381723022461,
-    "Loss": -19.73381723022461,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1967.2396783276988,
-    "Time_Data_Loading": 0.023115845521291097,
-    "Time_Epoch": 0.4572724898656209,
-    "Time_Log_Info": 0.010199228922526041,
-    "Time_Process_Batch": 0.02234374682108561,
-    "Time_Train_Batch": 0.39857958555221557
-}
-
-Epoch 176 Memory Usage: 3208 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 177
-{
-    "Log_Likelihood": 19.738193870544432,
-    "Loss": -19.738193870544432,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1924.5281976817637,
-    "Time_Data_Loading": 0.023186286290486652,
-    "Time_Epoch": 0.4570071816444397,
-    "Time_Log_Info": 0.010210216045379639,
-    "Time_Process_Batch": 0.022159433364868163,
-    "Time_Train_Batch": 0.3984701077143351
-}
-
-Epoch 177 Memory Usage: 3208 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 178
-{
-    "Log_Likelihood": 19.748427013397215,
-    "Loss": -19.748427013397215,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1938.359772187178,
-    "Time_Data_Loading": 0.02275682290395101,
-    "Time_Epoch": 0.45586933294932047,
-    "Time_Log_Info": 0.010247572263081869,
-    "Time_Process_Batch": 0.02209103504816691,
-    "Time_Train_Batch": 0.39785879453023276
-}
-
-Epoch 178 Memory Usage: 3209 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 179
-{
-    "Log_Likelihood": 19.764762241363524,
-    "Loss": -19.764762241363524,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1895.575777888406,
-    "Time_Data_Loading": 0.021643654505411784,
-    "Time_Epoch": 0.45518861214319867,
-    "Time_Log_Info": 0.01018902063369751,
-    "Time_Process_Batch": 0.021952267487843832,
-    "Time_Train_Batch": 0.3983386953671773
-}
-
-Epoch 179 Memory Usage: 3209 MB
-
-
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-Train Epoch 180
-{
-    "Log_Likelihood": 19.754240909576417,
-    "Loss": -19.754240909576417,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1941.866183102015,
-    "Time_Data_Loading": 0.022982418537139893,
-    "Time_Epoch": 0.4575371821721395,
-    "Time_Log_Info": 0.010187633832295736,
-    "Time_Process_Batch": 0.022699737548828126,
-    "Time_Train_Batch": 0.3987297852834066
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_180.pth
-
-Epoch 180 Memory Usage: 3209 MB
-
-
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-Train Epoch 181
-{
-    "Log_Likelihood": 19.779828540802,
-    "Loss": -19.779828540802,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1915.0812025038,
-    "Time_Data_Loading": 0.023418025175730387,
-    "Time_Epoch": 0.4570139805475871,
-    "Time_Log_Info": 0.010197003682454428,
-    "Time_Process_Batch": 0.02192630370457967,
-    "Time_Train_Batch": 0.3985586404800415
-}
-
-Epoch 181 Memory Usage: 3210 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 182
-{
-    "Log_Likelihood": 19.772326263427736,
-    "Loss": -19.772326263427736,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1860.873510126445,
-    "Time_Data_Loading": 0.022748855749766032,
-    "Time_Epoch": 0.45680754582087196,
-    "Time_Log_Info": 0.010231300195058187,
-    "Time_Process_Batch": 0.022219479084014893,
-    "Time_Train_Batch": 0.39850312074025473
-}
-
-Epoch 182 Memory Usage: 3210 MB
-
-
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 50%|#####     | 251/500 [00:13<00:13, 18.47it/s]
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 51%|#####1    | 255/500 [00:14<00:13, 18.57it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 183
-{
-    "Log_Likelihood": 19.778398197174074,
-    "Loss": -19.778398197174074,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2002.4017816058806,
-    "Time_Data_Loading": 0.023475909233093263,
-    "Time_Epoch": 0.4572131594022115,
-    "Time_Log_Info": 0.010232468446095785,
-    "Time_Process_Batch": 0.022345813115437825,
-    "Time_Train_Batch": 0.39813228448232013
-}
-
-Epoch 183 Memory Usage: 3211 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 184
-{
-    "Log_Likelihood": 19.79719509124756,
-    "Loss": -19.79719509124756,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1933.03732550151,
-    "Time_Data_Loading": 0.022814579804738364,
-    "Time_Epoch": 0.4563809355099996,
-    "Time_Log_Info": 0.010220603148142497,
-    "Time_Process_Batch": 0.021999613444010416,
-    "Time_Train_Batch": 0.3984134356180827
-}
-
-Epoch 184 Memory Usage: 3211 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 185
-{
-    "Log_Likelihood": 19.798738716125488,
-    "Loss": -19.798738716125488,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1873.2280555316443,
-    "Time_Data_Loading": 0.022608256340026854,
-    "Time_Epoch": 0.4562472581863403,
-    "Time_Log_Info": 0.010236295064290364,
-    "Time_Process_Batch": 0.022174243132273355,
-    "Time_Train_Batch": 0.39822713534037274
-}
-
-Epoch 185 Memory Usage: 3212 MB
-
-
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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 186
-{
-    "Log_Likelihood": 19.796375354766845,
-    "Loss": -19.796375354766845,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1804.5002789116888,
-    "Time_Data_Loading": 0.023060500621795654,
-    "Time_Epoch": 0.45707093477249144,
-    "Time_Log_Info": 0.010192775726318359,
-    "Time_Process_Batch": 0.02241505781809489,
-    "Time_Train_Batch": 0.3980967322985331
-}
-
-Epoch 186 Memory Usage: 3212 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 187
-{
-    "Log_Likelihood": 19.79312242126465,
-    "Loss": -19.79312242126465,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1839.9462883915844,
-    "Time_Data_Loading": 0.023709368705749512,
-    "Time_Epoch": 0.45816818873087567,
-    "Time_Log_Info": 0.01021359364191691,
-    "Time_Process_Batch": 0.022518980503082275,
-    "Time_Train_Batch": 0.39869399468104044
-}
-
-Epoch 187 Memory Usage: 3213 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 188
-{
-    "Log_Likelihood": 19.814661533355714,
-    "Loss": -19.814661533355714,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1866.6765617346598,
-    "Time_Data_Loading": 0.022429490089416505,
-    "Time_Epoch": 0.45569857756296794,
-    "Time_Log_Info": 0.010237228870391846,
-    "Time_Process_Batch": 0.022038471698760987,
-    "Time_Train_Batch": 0.39802427689234415
-}
-
-Epoch 188 Memory Usage: 3213 MB
-
-
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  0%|          | 1/500 [00:00<02:22,  3.50it/s]
  1%|          | 3/500 [00:00<00:56,  8.75it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 189
-{
-    "Log_Likelihood": 19.80786352157593,
-    "Loss": -19.80786352157593,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1843.8346704596602,
-    "Time_Data_Loading": 0.023715484142303466,
-    "Time_Epoch": 0.45701945225397744,
-    "Time_Log_Info": 0.010214551289876302,
-    "Time_Process_Batch": 0.02224597930908203,
-    "Time_Train_Batch": 0.3978436470031738
-}
-
-Epoch 189 Memory Usage: 3213 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 190
-{
-    "Log_Likelihood": 19.81370979309082,
-    "Loss": -19.81370979309082,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1825.205001822022,
-    "Time_Data_Loading": 0.02323410113652547,
-    "Time_Epoch": 0.4572738925615946,
-    "Time_Log_Info": 0.010199824968973795,
-    "Time_Process_Batch": 0.02237387498219808,
-    "Time_Train_Batch": 0.39851248264312744
-}
-
-Epoch 190 Memory Usage: 3213 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 191
-{
-    "Log_Likelihood": 19.771603725433348,
-    "Loss": -19.771603725433348,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1762.743821081333,
-    "Time_Data_Loading": 0.02268638610839844,
-    "Time_Epoch": 0.45649973551432294,
-    "Time_Log_Info": 0.010231272379557291,
-    "Time_Process_Batch": 0.022301554679870605,
-    "Time_Train_Batch": 0.39830880165100097
-}
-
-Epoch 191 Memory Usage: 3214 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 192
-{
-    "Log_Likelihood": 19.840237003326415,
-    "Loss": -19.840237003326415,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1847.3098505952364,
-    "Time_Data_Loading": 0.02406002680460612,
-    "Time_Epoch": 0.45720078945159914,
-    "Time_Log_Info": 0.010231522719065349,
-    "Time_Process_Batch": 0.022055840492248534,
-    "Time_Train_Batch": 0.3978457093238831
-}
-
-Epoch 192 Memory Usage: 3214 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.64it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 193
-{
-    "Log_Likelihood": 19.848386722564697,
-    "Loss": -19.848386722564697,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1830.1578386360347,
-    "Time_Data_Loading": 0.02297146717707316,
-    "Time_Epoch": 0.45674279928207395,
-    "Time_Log_Info": 0.01022088925043742,
-    "Time_Process_Batch": 0.021874864896138508,
-    "Time_Train_Batch": 0.39840629895528157
-}
-
-Epoch 193 Memory Usage: 3214 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.24it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 194
-{
-    "Log_Likelihood": 19.863974143981935,
-    "Loss": -19.863974143981935,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1876.0005958967288,
-    "Time_Data_Loading": 0.023091737429300943,
-    "Time_Epoch": 0.4563945889472961,
-    "Time_Log_Info": 0.010163235664367675,
-    "Time_Process_Batch": 0.02203857103983561,
-    "Time_Train_Batch": 0.3981170932451884
-}
-
-Epoch 194 Memory Usage: 3213 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 195
-{
-    "Log_Likelihood": 19.842613567352295,
-    "Loss": -19.842613567352295,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1851.7674721674034,
-    "Time_Data_Loading": 0.02279531955718994,
-    "Time_Epoch": 0.45666282971700034,
-    "Time_Log_Info": 0.010199614365895589,
-    "Time_Process_Batch": 0.02227262258529663,
-    "Time_Train_Batch": 0.39821836551030476
-}
-
-Epoch 195 Memory Usage: 3214 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 196
-{
-    "Log_Likelihood": 19.829740756988524,
-    "Loss": -19.829740756988524,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1851.640817401839,
-    "Time_Data_Loading": 0.023757755756378174,
-    "Time_Epoch": 0.4576943357785543,
-    "Time_Log_Info": 0.010189886887868245,
-    "Time_Process_Batch": 0.022421419620513916,
-    "Time_Train_Batch": 0.398271636168162
-}
-
-Epoch 196 Memory Usage: 3214 MB
-
-
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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 197
-{
-    "Log_Likelihood": 19.896264629364012,
-    "Loss": -19.896264629364012,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1831.7023117536355,
-    "Time_Data_Loading": 0.022658236821492515,
-    "Time_Epoch": 0.45645185708999636,
-    "Time_Log_Info": 0.010227898756663004,
-    "Time_Process_Batch": 0.022434361775716147,
-    "Time_Train_Batch": 0.39809327125549315
-}
-
-Epoch 197 Memory Usage: 3216 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 198
-{
-    "Log_Likelihood": 19.848705181121826,
-    "Loss": -19.848705181121826,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1844.5249373948,
-    "Time_Data_Loading": 0.021856574217478435,
-    "Time_Epoch": 0.4548053820927938,
-    "Time_Log_Info": 0.010207279523213705,
-    "Time_Process_Batch": 0.021713705857594807,
-    "Time_Train_Batch": 0.397844135761261
-}
-
-Epoch 198 Memory Usage: 3215 MB
-
-
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-Train Epoch 199
-{
-    "Log_Likelihood": 19.854317512512207,
-    "Loss": -19.854317512512207,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1756.401637949189,
-    "Time_Data_Loading": 0.022980197270711263,
-    "Time_Epoch": 0.45722928444544475,
-    "Time_Log_Info": 0.010182027022043865,
-    "Time_Process_Batch": 0.022242828210194906,
-    "Time_Train_Batch": 0.3986873745918274
-}
-
-Epoch 199 Memory Usage: 3216 MB
-
-
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-Train Epoch 200
-{
-    "Log_Likelihood": 19.876644527435303,
-    "Loss": -19.876644527435303,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1785.3852515863396,
-    "Time_Data_Loading": 0.02281006971995036,
-    "Time_Epoch": 0.4562778075536092,
-    "Time_Log_Info": 0.010220042864481608,
-    "Time_Process_Batch": 0.022000249226888022,
-    "Time_Train_Batch": 0.3982256531715393
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_200.pth
-
-Epoch 200 Memory Usage: 3216 MB
-
-
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 27%|##7       | 137/500 [00:07<00:19, 18.49it/s]
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 33%|###2      | 163/500 [00:08<00:18, 18.37it/s]
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 51%|#####1    | 255/500 [00:13<00:13, 18.61it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.42it/s]
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 93%|#########2| 463/500 [00:25<00:02, 18.33it/s]
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 93%|#########3| 467/500 [00:25<00:01, 18.50it/s]
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 96%|#########6| 481/500 [00:26<00:01, 18.34it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.29it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.36it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.36it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.40it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 201
-{
-    "Log_Likelihood": 19.875359828948973,
-    "Loss": -19.875359828948973,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1760.5763199831983,
-    "Time_Data_Loading": 0.02174098094304403,
-    "Time_Epoch": 0.45570319493611655,
-    "Time_Log_Info": 0.01020110050837199,
-    "Time_Process_Batch": 0.021880710124969484,
-    "Time_Train_Batch": 0.3988758246103922
-}
-
-Epoch 201 Memory Usage: 3217 MB
-
-
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  0%|          | 1/500 [00:00<02:04,  3.99it/s]
  1%|          | 3/500 [00:00<00:51,  9.58it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.74it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.78it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.78it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.55it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.49it/s]
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 22%|##2       | 111/500 [00:06<00:21, 18.44it/s]
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 23%|##3       | 117/500 [00:06<00:20, 18.52it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.55it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.52it/s]
 31%|###       | 153/500 [00:08<00:18, 18.49it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.30it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.58it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.64it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.60it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.49it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.61it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.64it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 202
-{
-    "Log_Likelihood": 19.875740001678466,
-    "Loss": -19.875740001678466,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1846.1899152557994,
-    "Time_Data_Loading": 0.022533166408538818,
-    "Time_Epoch": 0.45626461108525596,
-    "Time_Log_Info": 0.010225327809651692,
-    "Time_Process_Batch": 0.02209240198135376,
-    "Time_Train_Batch": 0.3983417789141337
-}
-
-Epoch 202 Memory Usage: 3217 MB
-
-
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  0%|          | 1/500 [00:00<02:10,  3.83it/s]
  1%|          | 3/500 [00:00<00:53,  9.32it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.30it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.44it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.25it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.33it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 203
-{
-    "Log_Likelihood": 19.868993534088133,
-    "Loss": -19.868993534088133,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1787.5012760980999,
-    "Time_Data_Loading": 0.02376976013183594,
-    "Time_Epoch": 0.45701759258906044,
-    "Time_Log_Info": 0.010223575433095296,
-    "Time_Process_Batch": 0.022098358472188315,
-    "Time_Train_Batch": 0.39787802696228025
-}
-
-Epoch 203 Memory Usage: 3217 MB
-
-
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  0%|          | 1/500 [00:00<02:06,  3.93it/s]
  1%|          | 3/500 [00:00<00:52,  9.52it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.56it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 204
-{
-    "Log_Likelihood": 19.85778500366211,
-    "Loss": -19.85778500366211,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1840.243290740685,
-    "Time_Data_Loading": 0.02264925241470337,
-    "Time_Epoch": 0.4563358147939046,
-    "Time_Log_Info": 0.010224350293477376,
-    "Time_Process_Batch": 0.022166820367177327,
-    "Time_Train_Batch": 0.3982754627863566
-}
-
-Epoch 204 Memory Usage: 3218 MB
-
-
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 70%|#######   | 351/500 [00:19<00:08, 18.49it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.37it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.37it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.45it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.47it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 205
-{
-    "Log_Likelihood": 19.885034690856934,
-    "Loss": -19.885034690856934,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1808.9916226826356,
-    "Time_Data_Loading": 0.023036384582519533,
-    "Time_Epoch": 0.4566642920176188,
-    "Time_Log_Info": 0.010213128725687663,
-    "Time_Process_Batch": 0.02233314116795858,
-    "Time_Train_Batch": 0.3980909546216329
-}
-
-Epoch 205 Memory Usage: 3219 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:08,  3.87it/s]
  1%|          | 3/500 [00:00<00:53,  9.22it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 206
-{
-    "Log_Likelihood": 19.881144424438478,
-    "Loss": -19.881144424438478,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1789.019264714959,
-    "Time_Data_Loading": 0.02343753973642985,
-    "Time_Epoch": 0.4572868625322978,
-    "Time_Log_Info": 0.010201772054036459,
-    "Time_Process_Batch": 0.02228848934173584,
-    "Time_Train_Batch": 0.39842323064804075
-}
-
-Epoch 206 Memory Usage: 3219 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 207
-{
-    "Log_Likelihood": 19.88284744644165,
-    "Loss": -19.88284744644165,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1781.6287995999028,
-    "Time_Data_Loading": 0.02245674133300781,
-    "Time_Epoch": 0.45610793828964236,
-    "Time_Log_Info": 0.010204001267751058,
-    "Time_Process_Batch": 0.022119581699371338,
-    "Time_Train_Batch": 0.39822270075480143
-}
-
-Epoch 207 Memory Usage: 3219 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 208
-{
-    "Log_Likelihood": 19.907729347229004,
-    "Loss": -19.907729347229004,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1731.164035738104,
-    "Time_Data_Loading": 0.022363070646921793,
-    "Time_Epoch": 0.4558673540751139,
-    "Time_Log_Info": 0.010210172335306803,
-    "Time_Process_Batch": 0.0220892071723938,
-    "Time_Train_Batch": 0.39811651706695556
-}
-
-Epoch 208 Memory Usage: 3220 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 209
-{
-    "Log_Likelihood": 19.899498626708983,
-    "Loss": -19.899498626708983,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1844.8739807406012,
-    "Time_Data_Loading": 0.022999087969462078,
-    "Time_Epoch": 0.4571467081705729,
-    "Time_Log_Info": 0.010224537054697672,
-    "Time_Process_Batch": 0.022194353739420573,
-    "Time_Train_Batch": 0.39860058228174844
-}
-
-Epoch 209 Memory Usage: 3220 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 210
-{
-    "Log_Likelihood": 19.92561081314087,
-    "Loss": -19.92561081314087,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1805.1817887199463,
-    "Time_Data_Loading": 0.02226548989613851,
-    "Time_Epoch": 0.4553544282913208,
-    "Time_Log_Info": 0.010207466284434,
-    "Time_Process_Batch": 0.02168505589167277,
-    "Time_Train_Batch": 0.3981774806976318
-}
-
-Epoch 210 Memory Usage: 3220 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.42it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 211
-{
-    "Log_Likelihood": 19.921389820098877,
-    "Loss": -19.921389820098877,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1801.9867095070747,
-    "Time_Data_Loading": 0.023670220375061037,
-    "Time_Epoch": 0.45771218538284303,
-    "Time_Log_Info": 0.010212914148966471,
-    "Time_Process_Batch": 0.022128923734029134,
-    "Time_Train_Batch": 0.3985022266705831
-}
-
-Epoch 211 Memory Usage: 3220 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 212
-{
-    "Log_Likelihood": 19.940928867340087,
-    "Loss": -19.940928867340087,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1746.9220419706332,
-    "Time_Data_Loading": 0.022666803995768228,
-    "Time_Epoch": 0.45691548188527426,
-    "Time_Log_Info": 0.01016778548558553,
-    "Time_Process_Batch": 0.022096753120422363,
-    "Time_Train_Batch": 0.39889897108078004
-}
-
-Epoch 212 Memory Usage: 3221 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 213
-{
-    "Log_Likelihood": 19.938229888916016,
-    "Loss": -19.938229888916016,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1735.1709876527743,
-    "Time_Data_Loading": 0.023362600803375246,
-    "Time_Epoch": 0.4569786588350932,
-    "Time_Log_Info": 0.010210331281026204,
-    "Time_Process_Batch": 0.02186023394266764,
-    "Time_Train_Batch": 0.39822593530019124
-}
-
-Epoch 213 Memory Usage: 3221 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 214
-{
-    "Log_Likelihood": 19.941434131622316,
-    "Loss": -19.941434131622316,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1753.5536787342533,
-    "Time_Data_Loading": 0.02255907456080119,
-    "Time_Epoch": 0.4565357168515523,
-    "Time_Log_Info": 0.01022821267445882,
-    "Time_Process_Batch": 0.0221102237701416,
-    "Time_Train_Batch": 0.3984913190205892
-}
-
-Epoch 214 Memory Usage: 3221 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 215
-{
-    "Log_Likelihood": 19.901482639312743,
-    "Loss": -19.901482639312743,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1740.0009106284517,
-    "Time_Data_Loading": 0.022412002086639404,
-    "Time_Epoch": 0.45613907178243,
-    "Time_Log_Info": 0.01023558775583903,
-    "Time_Process_Batch": 0.022066418329874674,
-    "Time_Train_Batch": 0.3984870950380961
-}
-
-Epoch 215 Memory Usage: 3222 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 216
-{
-    "Log_Likelihood": 19.96043194580078,
-    "Loss": -19.96043194580078,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1729.3151529229078,
-    "Time_Data_Loading": 0.022258909543355306,
-    "Time_Epoch": 0.45573031107584633,
-    "Time_Log_Info": 0.010227906703948974,
-    "Time_Process_Batch": 0.021923784414927164,
-    "Time_Train_Batch": 0.39808818499247234
-}
-
-Epoch 216 Memory Usage: 3221 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 217
-{
-    "Log_Likelihood": 19.9488122177124,
-    "Loss": -19.9488122177124,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1664.2172741170511,
-    "Time_Data_Loading": 0.022119704882303873,
-    "Time_Epoch": 0.4556855758031209,
-    "Time_Log_Info": 0.010218032201131185,
-    "Time_Process_Batch": 0.022145187854766844,
-    "Time_Train_Batch": 0.3982371727625529
-}
-
-Epoch 217 Memory Usage: 3222 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.35it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 218
-{
-    "Log_Likelihood": 19.968005687713624,
-    "Loss": -19.968005687713624,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1786.9792955303244,
-    "Time_Data_Loading": 0.02403034766515096,
-    "Time_Epoch": 0.45776445865631105,
-    "Time_Log_Info": 0.010198656717936199,
-    "Time_Process_Batch": 0.022042906284332274,
-    "Time_Train_Batch": 0.39852590560913087
-}
-
-Epoch 218 Memory Usage: 3222 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 219
-{
-    "Log_Likelihood": 19.939762306213378,
-    "Loss": -19.939762306213378,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1800.2241234952683,
-    "Time_Data_Loading": 0.022224048773447674,
-    "Time_Epoch": 0.45551084677378334,
-    "Time_Log_Info": 0.010224568843841552,
-    "Time_Process_Batch": 0.02194225788116455,
-    "Time_Train_Batch": 0.39809749126434324
-}
-
-Epoch 219 Memory Usage: 3222 MB
-
-
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-Train Epoch 220
-{
-    "Log_Likelihood": 19.931489963531494,
-    "Loss": -19.931489963531494,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1681.4859446392097,
-    "Time_Data_Loading": 0.022059468428293864,
-    "Time_Epoch": 0.456365438302358,
-    "Time_Log_Info": 0.010216442743937175,
-    "Time_Process_Batch": 0.022002299626668293,
-    "Time_Train_Batch": 0.398597264289856
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_220.pth
-
-Epoch 220 Memory Usage: 3224 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 221
-{
-    "Log_Likelihood": 19.983644676208495,
-    "Loss": -19.983644676208495,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1670.7418244875607,
-    "Time_Data_Loading": 0.0221933643023173,
-    "Time_Epoch": 0.45577115615208946,
-    "Time_Log_Info": 0.010223662853240967,
-    "Time_Process_Batch": 0.022179023424784342,
-    "Time_Train_Batch": 0.39811023076375324
-}
-
-Epoch 221 Memory Usage: 3223 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 222
-{
-    "Log_Likelihood": 19.955739086151123,
-    "Loss": -19.955739086151123,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1723.266917380149,
-    "Time_Data_Loading": 0.022493239243825278,
-    "Time_Epoch": 0.4562043865521749,
-    "Time_Log_Info": 0.010215044021606445,
-    "Time_Process_Batch": 0.022158753871917725,
-    "Time_Train_Batch": 0.39832375446955365
-}
-
-Epoch 222 Memory Usage: 3224 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 223
-{
-    "Log_Likelihood": 19.986887760162354,
-    "Loss": -19.986887760162354,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1736.3354642439995,
-    "Time_Data_Loading": 0.0231971542040507,
-    "Time_Epoch": 0.45719483693440754,
-    "Time_Log_Info": 0.01019645929336548,
-    "Time_Process_Batch": 0.02247171401977539,
-    "Time_Train_Batch": 0.3981638034184774
-}
-
-Epoch 223 Memory Usage: 3223 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 224
-{
-    "Log_Likelihood": 19.985377807617187,
-    "Loss": -19.985377807617187,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1671.0089912384633,
-    "Time_Data_Loading": 0.023224047819773355,
-    "Time_Epoch": 0.4568418463071187,
-    "Time_Log_Info": 0.010230815410614014,
-    "Time_Process_Batch": 0.02192266782124837,
-    "Time_Train_Batch": 0.39821550448735554
-}
-
-Epoch 224 Memory Usage: 3224 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:20,  3.54it/s]
  1%|          | 3/500 [00:00<00:55,  8.96it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 225
-{
-    "Log_Likelihood": 19.98815661239624,
-    "Loss": -19.98815661239624,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1718.0210729718024,
-    "Time_Data_Loading": 0.023058887322743735,
-    "Time_Epoch": 0.4567339738210042,
-    "Time_Log_Info": 0.010214165846506754,
-    "Time_Process_Batch": 0.022123348712921143,
-    "Time_Train_Batch": 0.39812847375869753
-}
-
-Epoch 225 Memory Usage: 3224 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.32it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 226
-{
-    "Log_Likelihood": 19.999016345977783,
-    "Loss": -19.999016345977783,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1738.3183632898324,
-    "Time_Data_Loading": 0.023589829603830974,
-    "Time_Epoch": 0.4570921818415324,
-    "Time_Log_Info": 0.010203385353088379,
-    "Time_Process_Batch": 0.022211321194966636,
-    "Time_Train_Batch": 0.39806416432062786
-}
-
-Epoch 226 Memory Usage: 3225 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 227
-{
-    "Log_Likelihood": 19.977551376342774,
-    "Loss": -19.977551376342774,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1713.5239709666268,
-    "Time_Data_Loading": 0.022296031316121418,
-    "Time_Epoch": 0.45639806191126503,
-    "Time_Log_Info": 0.010198640823364257,
-    "Time_Process_Batch": 0.022069104512532554,
-    "Time_Train_Batch": 0.39880160093307493
-}
-
-Epoch 227 Memory Usage: 3225 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 228
-{
-    "Log_Likelihood": 19.981720722198485,
-    "Loss": -19.981720722198485,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1791.4138458095347,
-    "Time_Data_Loading": 0.02233379284540812,
-    "Time_Epoch": 0.45620399713516235,
-    "Time_Log_Info": 0.010207843780517579,
-    "Time_Process_Batch": 0.022238326072692872,
-    "Time_Train_Batch": 0.3983670671780904
-}
-
-Epoch 228 Memory Usage: 3226 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 229
-{
-    "Log_Likelihood": 20.02315522003174,
-    "Loss": -20.02315522003174,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1720.4777587491053,
-    "Time_Data_Loading": 0.022259525458017983,
-    "Time_Epoch": 0.45665111144383747,
-    "Time_Log_Info": 0.010191051165262859,
-    "Time_Process_Batch": 0.022432470321655275,
-    "Time_Train_Batch": 0.3986738602320353
-}
-
-Epoch 229 Memory Usage: 3226 MB
-
-
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 50%|#####     | 251/500 [00:13<00:13, 18.54it/s]
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 51%|#####1    | 255/500 [00:14<00:13, 18.44it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 230
-{
-    "Log_Likelihood": 20.026694538116455,
-    "Loss": -20.026694538116455,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1700.9076127854032,
-    "Time_Data_Loading": 0.023451276620229087,
-    "Time_Epoch": 0.4569931745529175,
-    "Time_Log_Info": 0.010180775324503582,
-    "Time_Process_Batch": 0.022137041886647543,
-    "Time_Train_Batch": 0.39822611411412556
-}
-
-Epoch 230 Memory Usage: 3226 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 231
-{
-    "Log_Likelihood": 20.043837562561034,
-    "Loss": -20.043837562561034,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1745.3346823328372,
-    "Time_Data_Loading": 0.02323530912399292,
-    "Time_Epoch": 0.45711565017700195,
-    "Time_Log_Info": 0.010188420613606771,
-    "Time_Process_Batch": 0.022162862618764243,
-    "Time_Train_Batch": 0.3983510136604309
-}
-
-Epoch 231 Memory Usage: 3227 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 232
-{
-    "Log_Likelihood": 20.00488384246826,
-    "Loss": -20.00488384246826,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1717.709265049749,
-    "Time_Data_Loading": 0.022930951913197835,
-    "Time_Epoch": 0.4569469173749288,
-    "Time_Log_Info": 0.010180803140004475,
-    "Time_Process_Batch": 0.022203067938486736,
-    "Time_Train_Batch": 0.39842552741368614
-}
-
-Epoch 232 Memory Usage: 3227 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 233
-{
-    "Log_Likelihood": 20.00479523849487,
-    "Loss": -20.00479523849487,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1758.1182759632015,
-    "Time_Data_Loading": 0.022920779387156167,
-    "Time_Epoch": 0.4565731525421143,
-    "Time_Log_Info": 0.010185213883717854,
-    "Time_Process_Batch": 0.022067968050638834,
-    "Time_Train_Batch": 0.39840174118677774
-}
-
-Epoch 233 Memory Usage: 3228 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 234
-{
-    "Log_Likelihood": 20.01837105178833,
-    "Loss": -20.01837105178833,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1632.400187973732,
-    "Time_Data_Loading": 0.02233390013376872,
-    "Time_Epoch": 0.45660814046859743,
-    "Time_Log_Info": 0.010191110769907634,
-    "Time_Process_Batch": 0.022599780559539796,
-    "Time_Train_Batch": 0.3984333276748657
-}
-
-Epoch 234 Memory Usage: 3228 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 235
-{
-    "Log_Likelihood": 20.037591163635255,
-    "Loss": -20.037591163635255,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1759.2582760729406,
-    "Time_Data_Loading": 0.023265822728474935,
-    "Time_Epoch": 0.45741499265034996,
-    "Time_Log_Info": 0.010180373986562094,
-    "Time_Process_Batch": 0.02249324321746826,
-    "Time_Train_Batch": 0.3984825849533081
-}
-
-Epoch 235 Memory Usage: 3228 MB
-
-
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  0%|          | 1/500 [00:00<02:07,  3.92it/s]
  1%|          | 3/500 [00:00<00:52,  9.44it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.42it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 236
-{
-    "Log_Likelihood": 20.021819316864015,
-    "Loss": -20.021819316864015,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1683.953103607492,
-    "Time_Data_Loading": 0.02242405414581299,
-    "Time_Epoch": 0.4562082409858704,
-    "Time_Log_Info": 0.010209262371063232,
-    "Time_Process_Batch": 0.022245498498280843,
-    "Time_Train_Batch": 0.3983263333638509
-}
-
-Epoch 236 Memory Usage: 3228 MB
-
-
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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 237
-{
-    "Log_Likelihood": 19.929428298950196,
-    "Loss": -19.929428298950196,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1792.7479008954617,
-    "Time_Data_Loading": 0.02269790172576904,
-    "Time_Epoch": 0.45595739285151166,
-    "Time_Log_Info": 0.010236398379007975,
-    "Time_Process_Batch": 0.02214329640070597,
-    "Time_Train_Batch": 0.39782414038976033
-}
-
-Epoch 237 Memory Usage: 3228 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 238
-{
-    "Log_Likelihood": 19.946726001739503,
-    "Loss": -19.946726001739503,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1652.485588651299,
-    "Time_Data_Loading": 0.023448391755421957,
-    "Time_Epoch": 0.45766719977060955,
-    "Time_Log_Info": 0.010219927628835042,
-    "Time_Process_Batch": 0.0223849614461263,
-    "Time_Train_Batch": 0.3986527721087138
-}
-
-Epoch 238 Memory Usage: 3228 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 239
-{
-    "Log_Likelihood": 19.99356655883789,
-    "Loss": -19.99356655883789,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1686.734211494649,
-    "Time_Data_Loading": 0.02255902290344238,
-    "Time_Epoch": 0.4564883589744568,
-    "Time_Log_Info": 0.010215338071187336,
-    "Time_Process_Batch": 0.022258539994557697,
-    "Time_Train_Batch": 0.39834625720977784
-}
-
-Epoch 239 Memory Usage: 3229 MB
-
-
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  0%|          | 1/500 [00:00<02:09,  3.86it/s]
  1%|          | 3/500 [00:00<00:52,  9.45it/s]
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-Train Epoch 240
-{
-    "Log_Likelihood": 20.028746753692626,
-    "Loss": -20.028746753692626,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1706.9514500257933,
-    "Time_Data_Loading": 0.02241812547047933,
-    "Time_Epoch": 0.45522480805714927,
-    "Time_Log_Info": 0.01021515925725301,
-    "Time_Process_Batch": 0.021847867965698244,
-    "Time_Train_Batch": 0.3974941333134969
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_240.pth
-
-Epoch 240 Memory Usage: 3229 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 241
-{
-    "Log_Likelihood": 20.050448417663574,
-    "Loss": -20.050448417663574,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1694.0469544473624,
-    "Time_Data_Loading": 0.022366050879160562,
-    "Time_Epoch": 0.45609753926595054,
-    "Time_Log_Info": 0.010199340184529622,
-    "Time_Process_Batch": 0.022388792037963866,
-    "Time_Train_Batch": 0.39809244076410927
-}
-
-Epoch 241 Memory Usage: 3230 MB
-
-
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 70%|#######   | 351/500 [00:19<00:08, 18.48it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.48it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.49it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.43it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.47it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 242
-{
-    "Log_Likelihood": 20.082608169555662,
-    "Loss": -20.082608169555662,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1617.0782779551005,
-    "Time_Data_Loading": 0.02324010928471883,
-    "Time_Epoch": 0.4569567282994588,
-    "Time_Log_Info": 0.01018383502960205,
-    "Time_Process_Batch": 0.022016215324401855,
-    "Time_Train_Batch": 0.39840448697408043
-}
-
-Epoch 242 Memory Usage: 3230 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:55,  4.33it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.53it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.32it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 243
-{
-    "Log_Likelihood": 20.073107067108154,
-    "Loss": -20.073107067108154,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1748.6045453510178,
-    "Time_Data_Loading": 0.022569608688354493,
-    "Time_Epoch": 0.4563149372736613,
-    "Time_Log_Info": 0.010210200150807699,
-    "Time_Process_Batch": 0.022150715192159016,
-    "Time_Train_Batch": 0.3983786145846049
-}
-
-Epoch 243 Memory Usage: 3230 MB
-
-
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  1%|          | 3/500 [00:00<00:52,  9.43it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 244
-{
-    "Log_Likelihood": 20.06274160003662,
-    "Loss": -20.06274160003662,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1681.2843318140583,
-    "Time_Data_Loading": 0.02312769095102946,
-    "Time_Epoch": 0.4576602498690287,
-    "Time_Log_Info": 0.01016473372777303,
-    "Time_Process_Batch": 0.022349135080973307,
-    "Time_Train_Batch": 0.39897064367930096
-}
-
-Epoch 244 Memory Usage: 3231 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 245
-{
-    "Log_Likelihood": 20.05010199737549,
-    "Loss": -20.05010199737549,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1599.868858989195,
-    "Time_Data_Loading": 0.023157755533854168,
-    "Time_Epoch": 0.45674115816752114,
-    "Time_Log_Info": 0.010223186016082764,
-    "Time_Process_Batch": 0.02227210203806559,
-    "Time_Train_Batch": 0.3979939262072245
-}
-
-Epoch 245 Memory Usage: 3231 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 246
-{
-    "Log_Likelihood": 20.053704139709474,
-    "Loss": -20.053704139709474,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1644.934399841763,
-    "Time_Data_Loading": 0.022926751772562662,
-    "Time_Epoch": 0.45684309005737306,
-    "Time_Log_Info": 0.010206488768259685,
-    "Time_Process_Batch": 0.022347899278004964,
-    "Time_Train_Batch": 0.3981140693028768
-}
-
-Epoch 246 Memory Usage: 3232 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:11,  3.79it/s]
  1%|          | 3/500 [00:00<00:53,  9.26it/s]
  1%|1         | 5/500 [00:00<00:44, 11.01it/s]
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  2%|2         | 11/500 [00:00<00:30, 15.93it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 247
-{
-    "Log_Likelihood": 20.075914321899415,
-    "Loss": -20.075914321899415,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1618.7190536483122,
-    "Time_Data_Loading": 0.023168782393137615,
-    "Time_Epoch": 0.45678619146347044,
-    "Time_Log_Info": 0.01019439697265625,
-    "Time_Process_Batch": 0.021797736485799152,
-    "Time_Train_Batch": 0.39850643078486125
-}
-
-Epoch 247 Memory Usage: 3232 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 248
-{
-    "Log_Likelihood": 20.08330730819702,
-    "Loss": -20.08330730819702,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1614.9310174564484,
-    "Time_Data_Loading": 0.023339434464772543,
-    "Time_Epoch": 0.4569437583287557,
-    "Time_Log_Info": 0.010205594698588054,
-    "Time_Process_Batch": 0.022321685155232748,
-    "Time_Train_Batch": 0.39812810023625694
-}
-
-Epoch 248 Memory Usage: 3233 MB
-
-
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 13%|#3        | 65/500 [00:03<00:23, 18.46it/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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 50%|#####     | 251/500 [00:13<00:13, 18.46it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.33it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.25it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.44it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.38it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.43it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.45it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.29it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 249
-{
-    "Log_Likelihood": 20.101489032745363,
-    "Loss": -20.101489032745363,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1552.794794178919,
-    "Time_Data_Loading": 0.02283098300298055,
-    "Time_Epoch": 0.4568200627962748,
-    "Time_Log_Info": 0.010185039043426514,
-    "Time_Process_Batch": 0.02227048873901367,
-    "Time_Train_Batch": 0.3985006888707479
-}
-
-Epoch 249 Memory Usage: 3233 MB
-
-
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  0%|          | 1/500 [00:00<02:09,  3.85it/s]
  1%|          | 3/500 [00:00<00:52,  9.41it/s]
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 25%|##4       | 123/500 [00:06<00:20, 18.16it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.25it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.28it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.54it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.46it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.56it/s]
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 29%|##8       | 143/500 [00:07<00:19, 18.44it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.35it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.26it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.35it/s]
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 34%|###3      | 169/500 [00:09<00:17, 18.50it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.49it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.54it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.43it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.62it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.63it/s]
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 52%|#####1    | 259/500 [00:14<00:12, 18.61it/s]
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 53%|#####2    | 263/500 [00:14<00:12, 18.71it/s]
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 59%|#####9    | 297/500 [00:16<00:11, 18.39it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.46it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.57it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.51it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.30it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.37it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.33it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.35it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.51it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.46it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.46it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.59it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.61it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.59it/s]
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 81%|########1 | 405/500 [00:22<00:05, 18.61it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.28it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 250
-{
-    "Log_Likelihood": 20.053990455627442,
-    "Loss": -20.053990455627442,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1671.5970060488098,
-    "Time_Data_Loading": 0.02338877518971761,
-    "Time_Epoch": 0.45714319944381715,
-    "Time_Log_Info": 0.010202956199645997,
-    "Time_Process_Batch": 0.022303990523020425,
-    "Time_Train_Batch": 0.3982390403747559
-}
-
-Epoch 250 Memory Usage: 3233 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:20,  3.55it/s]
  1%|          | 3/500 [00:00<00:56,  8.84it/s]
  1%|1         | 5/500 [00:00<00:40, 12.13it/s]
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 30%|###       | 151/500 [00:08<00:19, 18.31it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.32it/s]
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 33%|###3      | 165/500 [00:09<00:18, 18.28it/s]
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 34%|###3      | 169/500 [00:09<00:17, 18.52it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.54it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.45it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.44it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.39it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.58it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.42it/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, 18.39it/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, 18.44it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 251
-{
-    "Log_Likelihood": 20.100420394897462,
-    "Loss": -20.100420394897462,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1733.6972430040114,
-    "Time_Data_Loading": 0.023478015263875326,
-    "Time_Epoch": 0.45787897109985354,
-    "Time_Log_Info": 0.010191973050435383,
-    "Time_Process_Batch": 0.02247724135716756,
-    "Time_Train_Batch": 0.3985496997833252
-}
-
-Epoch 251 Memory Usage: 3233 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:01,  4.12it/s]
  1%|          | 3/500 [00:00<00:51,  9.60it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 252
-{
-    "Log_Likelihood": 20.109035751342773,
-    "Loss": -20.109035751342773,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1783.3675602433525,
-    "Time_Data_Loading": 0.022711976369222005,
-    "Time_Epoch": 0.4562625249226888,
-    "Time_Log_Info": 0.010232881704966227,
-    "Time_Process_Batch": 0.02213095426559448,
-    "Time_Train_Batch": 0.39814353783925377
-}
-
-Epoch 252 Memory Usage: 3233 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 253
-{
-    "Log_Likelihood": 20.11823667526245,
-    "Loss": -20.11823667526245,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1697.9861696949076,
-    "Time_Data_Loading": 0.023260740439097087,
-    "Time_Epoch": 0.45686285495758056,
-    "Time_Log_Info": 0.010189425945281983,
-    "Time_Process_Batch": 0.02236185073852539,
-    "Time_Train_Batch": 0.3980368653933207
-}
-
-Epoch 253 Memory Usage: 3234 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 254
-{
-    "Log_Likelihood": 20.108353160858154,
-    "Loss": -20.108353160858154,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1659.954378385244,
-    "Time_Data_Loading": 0.02388977607091268,
-    "Time_Epoch": 0.4577451745669047,
-    "Time_Log_Info": 0.010214400291442872,
-    "Time_Process_Batch": 0.0221970796585083,
-    "Time_Train_Batch": 0.3984280347824097
-}
-
-Epoch 254 Memory Usage: 3233 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 255
-{
-    "Log_Likelihood": 20.10707141113281,
-    "Loss": -20.10707141113281,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1614.417397690062,
-    "Time_Data_Loading": 0.022623658180236816,
-    "Time_Epoch": 0.4568918029467265,
-    "Time_Log_Info": 0.01020982265472412,
-    "Time_Process_Batch": 0.022588304678599038,
-    "Time_Train_Batch": 0.3984080910682678
-}
-
-Epoch 255 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, 18.34it/s]
-Train Epoch 256
-{
-    "Log_Likelihood": 20.118864517211914,
-    "Loss": -20.118864517211914,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1562.3328226061692,
-    "Time_Data_Loading": 0.022677989800771077,
-    "Time_Epoch": 0.457012927532196,
-    "Time_Log_Info": 0.01023106575012207,
-    "Time_Process_Batch": 0.02250750462214152,
-    "Time_Train_Batch": 0.39833770593007406
-}
-
-Epoch 256 Memory Usage: 3234 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 257
-{
-    "Log_Likelihood": 20.138475646972655,
-    "Loss": -20.138475646972655,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1565.8708100653232,
-    "Time_Data_Loading": 0.023342319329579673,
-    "Time_Epoch": 0.45795384248097737,
-    "Time_Log_Info": 0.010218421618143717,
-    "Time_Process_Batch": 0.022582634290059408,
-    "Time_Train_Batch": 0.3985156814257304
-}
-
-Epoch 257 Memory Usage: 3235 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 258
-{
-    "Log_Likelihood": 20.15060148239136,
-    "Loss": -20.15060148239136,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1690.2265766746411,
-    "Time_Data_Loading": 0.022973104317982992,
-    "Time_Epoch": 0.45700745582580565,
-    "Time_Log_Info": 0.010227004686991373,
-    "Time_Process_Batch": 0.02234253485997518,
-    "Time_Train_Batch": 0.3983301798502604
-}
-
-Epoch 258 Memory Usage: 3235 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 259
-{
-    "Log_Likelihood": 20.13824919128418,
-    "Loss": -20.13824919128418,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1685.9735150272047,
-    "Time_Data_Loading": 0.0237429141998291,
-    "Time_Epoch": 0.457788626352946,
-    "Time_Log_Info": 0.010248931248982747,
-    "Time_Process_Batch": 0.022257216771443687,
-    "Time_Train_Batch": 0.39828082323074343
-}
-
-Epoch 259 Memory Usage: 3235 MB
-
-
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-Train Epoch 260
-{
-    "Log_Likelihood": 20.09959414291382,
-    "Loss": -20.09959414291382,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1522.4380136799846,
-    "Time_Data_Loading": 0.023417719205220542,
-    "Time_Epoch": 0.45664976437886556,
-    "Time_Log_Info": 0.010220615069071452,
-    "Time_Process_Batch": 0.022201041380564373,
-    "Time_Train_Batch": 0.39781763553619387
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_260.pth
-
-Epoch 260 Memory Usage: 3236 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.27it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
-Train Epoch 261
-{
-    "Log_Likelihood": 20.15933504486084,
-    "Loss": -20.15933504486084,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1611.5478669020515,
-    "Time_Data_Loading": 0.0218010147412618,
-    "Time_Epoch": 0.45553924640019733,
-    "Time_Log_Info": 0.010231721401214599,
-    "Time_Process_Batch": 0.022040637334187825,
-    "Time_Train_Batch": 0.39841060638427733
-}
-
-Epoch 261 Memory Usage: 3237 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 262
-{
-    "Log_Likelihood": 20.16173176956177,
-    "Loss": -20.16173176956177,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1598.9258465771215,
-    "Time_Data_Loading": 0.022425150871276854,
-    "Time_Epoch": 0.4556391874949137,
-    "Time_Log_Info": 0.01020890474319458,
-    "Time_Process_Batch": 0.022141400973002115,
-    "Time_Train_Batch": 0.3977932055791219
-}
-
-Epoch 262 Memory Usage: 3236 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.70it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 263
-{
-    "Log_Likelihood": 20.1364059715271,
-    "Loss": -20.1364059715271,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1622.3582968600947,
-    "Time_Data_Loading": 0.022681899865468345,
-    "Time_Epoch": 0.4563472191492716,
-    "Time_Log_Info": 0.010225148995717366,
-    "Time_Process_Batch": 0.022196654478708902,
-    "Time_Train_Batch": 0.39822920560836794
-}
-
-Epoch 263 Memory Usage: 3237 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.32it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 264
-{
-    "Log_Likelihood": 20.187785358428954,
-    "Loss": -20.187785358428954,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1728.558723156146,
-    "Time_Data_Loading": 0.022415014108022054,
-    "Time_Epoch": 0.4559566855430603,
-    "Time_Log_Info": 0.010204887390136719,
-    "Time_Process_Batch": 0.0221399982770284,
-    "Time_Train_Batch": 0.39819085200627646
-}
-
-Epoch 264 Memory Usage: 3237 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 265
-{
-    "Log_Likelihood": 20.185850894927977,
-    "Loss": -20.185850894927977,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1642.0636104204175,
-    "Time_Data_Loading": 0.023468645413716634,
-    "Time_Epoch": 0.45741482575734455,
-    "Time_Log_Info": 0.010216705004374186,
-    "Time_Process_Batch": 0.022229286034901936,
-    "Time_Train_Batch": 0.3984152277310689
-}
-
-Epoch 265 Memory Usage: 3238 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 266
-{
-    "Log_Likelihood": 20.15871565246582,
-    "Loss": -20.15871565246582,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1623.2092998342594,
-    "Time_Data_Loading": 0.02350054184595744,
-    "Time_Epoch": 0.45696424643198646,
-    "Time_Log_Info": 0.010200945536295573,
-    "Time_Process_Batch": 0.022040251890818277,
-    "Time_Train_Batch": 0.3982574582099915
-}
-
-Epoch 266 Memory Usage: 3239 MB
-
-
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  2%|1         | 9/500 [00:00<00:31, 15.46it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 267
-{
-    "Log_Likelihood": 20.17156914138794,
-    "Loss": -20.17156914138794,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1631.4930071927558,
-    "Time_Data_Loading": 0.023250881830851236,
-    "Time_Epoch": 0.4573501189549764,
-    "Time_Log_Info": 0.0102204163869222,
-    "Time_Process_Batch": 0.022298709551493327,
-    "Time_Train_Batch": 0.3985733111699422
-}
-
-Epoch 267 Memory Usage: 3239 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.31it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 268
-{
-    "Log_Likelihood": 20.1930689163208,
-    "Loss": -20.1930689163208,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1677.4247533362905,
-    "Time_Data_Loading": 0.023077372709910074,
-    "Time_Epoch": 0.45730655193328856,
-    "Time_Log_Info": 0.010206007957458496,
-    "Time_Process_Batch": 0.02261815071105957,
-    "Time_Train_Batch": 0.3983329176902771
-}
-
-Epoch 268 Memory Usage: 3240 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 269
-{
-    "Log_Likelihood": 20.196518409729006,
-    "Loss": -20.196518409729006,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1709.3952614951456,
-    "Time_Data_Loading": 0.0227805495262146,
-    "Time_Epoch": 0.45572285652160643,
-    "Time_Log_Info": 0.01023255189259847,
-    "Time_Process_Batch": 0.021955418586730956,
-    "Time_Train_Batch": 0.39760468403498334
-}
-
-Epoch 269 Memory Usage: 3240 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 270
-{
-    "Log_Likelihood": 20.171518566131592,
-    "Loss": -20.171518566131592,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1541.7152416132296,
-    "Time_Data_Loading": 0.023242318630218507,
-    "Time_Epoch": 0.45650741656621296,
-    "Time_Log_Info": 0.010225335756937662,
-    "Time_Process_Batch": 0.021960477034250896,
-    "Time_Train_Batch": 0.3980091174443563
-}
-
-Epoch 270 Memory Usage: 3240 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.35it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
-Train Epoch 271
-{
-    "Log_Likelihood": 20.176584255218504,
-    "Loss": -20.176584255218504,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1566.5921762551327,
-    "Time_Data_Loading": 0.021928878625233968,
-    "Time_Epoch": 0.4553837299346924,
-    "Time_Log_Info": 0.010223293304443359,
-    "Time_Process_Batch": 0.02223506768544515,
-    "Time_Train_Batch": 0.3980168024698893
-}
-
-Epoch 271 Memory Usage: 3240 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 272
-{
-    "Log_Likelihood": 20.185925380706788,
-    "Loss": -20.185925380706788,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1719.0932309006885,
-    "Time_Data_Loading": 0.023335015773773192,
-    "Time_Epoch": 0.45727063417434693,
-    "Time_Log_Info": 0.010219935576121013,
-    "Time_Process_Batch": 0.022064673900604247,
-    "Time_Train_Batch": 0.3985068917274475
-}
-
-Epoch 272 Memory Usage: 3240 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
-Train Epoch 273
-{
-    "Log_Likelihood": 20.16711108016968,
-    "Loss": -20.16711108016968,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1652.9955851901755,
-    "Time_Data_Loading": 0.02391263246536255,
-    "Time_Epoch": 0.4583207448323568,
-    "Time_Log_Info": 0.010185023148854574,
-    "Time_Process_Batch": 0.02260493834813436,
-    "Time_Train_Batch": 0.39861116409301756
-}
-
-Epoch 273 Memory Usage: 3241 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 274
-{
-    "Log_Likelihood": 20.197366928100585,
-    "Loss": -20.197366928100585,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1623.3534572320718,
-    "Time_Data_Loading": 0.02384867270787557,
-    "Time_Epoch": 0.4579488476117452,
-    "Time_Log_Info": 0.010204462210337321,
-    "Time_Process_Batch": 0.022476712862650555,
-    "Time_Train_Batch": 0.3983374317487081
-}
-
-Epoch 274 Memory Usage: 3240 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 275
-{
-    "Log_Likelihood": 20.19886851501465,
-    "Loss": -20.19886851501465,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1668.7674620537196,
-    "Time_Data_Loading": 0.02228455146153768,
-    "Time_Epoch": 0.45608477195103964,
-    "Time_Log_Info": 0.010227664311726888,
-    "Time_Process_Batch": 0.021905175844828286,
-    "Time_Train_Batch": 0.3984283010164897
-}
-
-Epoch 275 Memory Usage: 3241 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.40it/s]
-Train Epoch 276
-{
-    "Log_Likelihood": 20.230671268463134,
-    "Loss": -20.230671268463134,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1621.3861574832006,
-    "Time_Data_Loading": 0.02224570910135905,
-    "Time_Epoch": 0.4553668975830078,
-    "Time_Log_Info": 0.010243463516235351,
-    "Time_Process_Batch": 0.02182779312133789,
-    "Time_Train_Batch": 0.39803961912790936
-}
-
-Epoch 276 Memory Usage: 3241 MB
-
-
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 12%|#2        | 61/500 [00:03<00:23, 18.46it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.55it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.60it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.52it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.56it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.47it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.49it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.44it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.41it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.49it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.49it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.27it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.30it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.46it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.64it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.62it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.70it/s]
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 71%|#######   | 353/500 [00:19<00:07, 18.44it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.43it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.55it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.50it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.05it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 277
-{
-    "Log_Likelihood": 20.18894842529297,
-    "Loss": -20.18894842529297,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1664.8129465846707,
-    "Time_Data_Loading": 0.023186886310577394,
-    "Time_Epoch": 0.45726486841837566,
-    "Time_Log_Info": 0.010206003983815512,
-    "Time_Process_Batch": 0.022386141618092856,
-    "Time_Train_Batch": 0.39841073751449585
-}
-
-Epoch 277 Memory Usage: 3242 MB
-
-
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  0%|          | 1/500 [00:00<02:16,  3.66it/s]
  1%|          | 3/500 [00:00<00:55,  8.95it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 278
-{
-    "Log_Likelihood": 20.20940853500366,
-    "Loss": -20.20940853500366,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1638.9404869600085,
-    "Time_Data_Loading": 0.02373901605606079,
-    "Time_Epoch": 0.4577872713406881,
-    "Time_Log_Info": 0.010198243459065755,
-    "Time_Process_Batch": 0.022368796666463218,
-    "Time_Train_Batch": 0.39847902456919354
-}
-
-Epoch 278 Memory Usage: 3243 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.40it/s]
-Train Epoch 279
-{
-    "Log_Likelihood": 20.17382761955261,
-    "Loss": -20.17382761955261,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1639.5489757030848,
-    "Time_Data_Loading": 0.022590363025665285,
-    "Time_Epoch": 0.45545315742492676,
-    "Time_Log_Info": 0.010222951571146647,
-    "Time_Process_Batch": 0.02182395855585734,
-    "Time_Train_Batch": 0.3978304147720337
-}
-
-Epoch 279 Memory Usage: 3242 MB
-
-
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-Train Epoch 280
-{
-    "Log_Likelihood": 20.19821220397949,
-    "Loss": -20.19821220397949,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1581.9205582019604,
-    "Time_Data_Loading": 0.02287687063217163,
-    "Time_Epoch": 0.45623711347579954,
-    "Time_Log_Info": 0.010221413771311442,
-    "Time_Process_Batch": 0.022357070446014406,
-    "Time_Train_Batch": 0.3978092749913534
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_280.pth
-
-Epoch 280 Memory Usage: 3243 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 281
-{
-    "Log_Likelihood": 20.252610198974608,
-    "Loss": -20.252610198974608,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1674.4551534672926,
-    "Time_Data_Loading": 0.022241620222727458,
-    "Time_Epoch": 0.4555912772814433,
-    "Time_Log_Info": 0.010176642735799154,
-    "Time_Process_Batch": 0.02200405995051066,
-    "Time_Train_Batch": 0.39812668561935427
-}
-
-Epoch 281 Memory Usage: 3244 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 282
-{
-    "Log_Likelihood": 20.193308338165284,
-    "Loss": -20.193308338165284,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1636.1626171283815,
-    "Time_Data_Loading": 0.023979711532592773,
-    "Time_Epoch": 0.45762661695480344,
-    "Time_Log_Info": 0.010224064191182455,
-    "Time_Process_Batch": 0.02209932804107666,
-    "Time_Train_Batch": 0.3981402158737183
-}
-
-Epoch 282 Memory Usage: 3245 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 283
-{
-    "Log_Likelihood": 20.213451351165773,
-    "Loss": -20.213451351165773,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1586.9876891787785,
-    "Time_Data_Loading": 0.023050999641418456,
-    "Time_Epoch": 0.4567134300867716,
-    "Time_Log_Info": 0.010190085570017497,
-    "Time_Process_Batch": 0.022042914231618246,
-    "Time_Train_Batch": 0.3983735243479411
-}
-
-Epoch 283 Memory Usage: 3245 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 284
-{
-    "Log_Likelihood": 20.23805602264404,
-    "Loss": -20.23805602264404,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1664.790587811893,
-    "Time_Data_Loading": 0.022500093777974448,
-    "Time_Epoch": 0.4559884985287984,
-    "Time_Log_Info": 0.010227739810943604,
-    "Time_Process_Batch": 0.02209029197692871,
-    "Time_Train_Batch": 0.39800885518391926
-}
-
-Epoch 284 Memory Usage: 3245 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 285
-{
-    "Log_Likelihood": 20.233877632141112,
-    "Loss": -20.233877632141112,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1569.0432124481551,
-    "Time_Data_Loading": 0.022793185710906983,
-    "Time_Epoch": 0.4561110297838847,
-    "Time_Log_Info": 0.010230688254038493,
-    "Time_Process_Batch": 0.02216445207595825,
-    "Time_Train_Batch": 0.3978549957275391
-}
-
-Epoch 285 Memory Usage: 3246 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.45it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 286
-{
-    "Log_Likelihood": 20.256691860198973,
-    "Loss": -20.256691860198973,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1636.449432482,
-    "Time_Data_Loading": 0.02326067288716634,
-    "Time_Epoch": 0.45711602369944254,
-    "Time_Log_Info": 0.010210553805033365,
-    "Time_Process_Batch": 0.02224518855412801,
-    "Time_Train_Batch": 0.39810167948404945
-}
-
-Epoch 286 Memory Usage: 3245 MB
-
-
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 51%|#####1    | 255/500 [00:13<00:13, 18.69it/s]
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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 287
-{
-    "Log_Likelihood": 20.244776512145997,
-    "Loss": -20.244776512145997,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1657.5369964255974,
-    "Time_Data_Loading": 0.023071539402008057,
-    "Time_Epoch": 0.45667713483174643,
-    "Time_Log_Info": 0.0101974884668986,
-    "Time_Process_Batch": 0.022361361980438234,
-    "Time_Train_Batch": 0.3979167421658834
-}
-
-Epoch 287 Memory Usage: 3246 MB
-
-
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  1%|          | 3/500 [00:00<00:55,  8.91it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.42it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 288
-{
-    "Log_Likelihood": 20.24927318191528,
-    "Loss": -20.24927318191528,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1711.1546611378542,
-    "Time_Data_Loading": 0.022953470547993977,
-    "Time_Epoch": 0.4567236224810282,
-    "Time_Log_Info": 0.010202781359354655,
-    "Time_Process_Batch": 0.022029395898183188,
-    "Time_Train_Batch": 0.39849068721135456
-}
-
-Epoch 288 Memory Usage: 3246 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 289
-{
-    "Log_Likelihood": 20.236742519378662,
-    "Loss": -20.236742519378662,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1656.0508494175492,
-    "Time_Data_Loading": 0.023279412587483724,
-    "Time_Epoch": 0.456760303179423,
-    "Time_Log_Info": 0.01020973523457845,
-    "Time_Process_Batch": 0.022428842385609944,
-    "Time_Train_Batch": 0.397851026058197
-}
-
-Epoch 289 Memory Usage: 3247 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 290
-{
-    "Log_Likelihood": 20.269325141906737,
-    "Loss": -20.269325141906737,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1711.5576847448822,
-    "Time_Data_Loading": 0.022592031955718996,
-    "Time_Epoch": 0.456728994846344,
-    "Time_Log_Info": 0.010201537609100341,
-    "Time_Process_Batch": 0.022411131858825685,
-    "Time_Train_Batch": 0.3983759800593058
-}
-
-Epoch 290 Memory Usage: 3247 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 291
-{
-    "Log_Likelihood": 20.275979774475097,
-    "Loss": -20.275979774475097,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1602.7818040138027,
-    "Time_Data_Loading": 0.022780974706013996,
-    "Time_Epoch": 0.45651017427444457,
-    "Time_Log_Info": 0.01018444299697876,
-    "Time_Process_Batch": 0.022117129961649575,
-    "Time_Train_Batch": 0.3983603835105896
-}
-
-Epoch 291 Memory Usage: 3247 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 292
-{
-    "Log_Likelihood": 20.260865493774414,
-    "Loss": -20.260865493774414,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1600.8560540591957,
-    "Time_Data_Loading": 0.023130261898040773,
-    "Time_Epoch": 0.45710708300272623,
-    "Time_Log_Info": 0.01017304261525472,
-    "Time_Process_Batch": 0.02231150468190511,
-    "Time_Train_Batch": 0.39843867619832357
-}
-
-Epoch 292 Memory Usage: 3248 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 293
-{
-    "Log_Likelihood": 20.28696424102783,
-    "Loss": -20.28696424102783,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1652.8275826568026,
-    "Time_Data_Loading": 0.02390918731689453,
-    "Time_Epoch": 0.45807567834854124,
-    "Time_Log_Info": 0.010207053025563557,
-    "Time_Process_Batch": 0.022506145636240642,
-    "Time_Train_Batch": 0.3981714963912964
-}
-
-Epoch 293 Memory Usage: 3247 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 294
-{
-    "Log_Likelihood": 20.256635471343994,
-    "Loss": -20.256635471343994,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1574.914317852261,
-    "Time_Data_Loading": 0.02288206418355306,
-    "Time_Epoch": 0.4562301198641459,
-    "Time_Log_Info": 0.010206258296966553,
-    "Time_Process_Batch": 0.02231895923614502,
-    "Time_Train_Batch": 0.39775598446528115
-}
-
-Epoch 294 Memory Usage: 3248 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 295
-{
-    "Log_Likelihood": 20.2721375579834,
-    "Loss": -20.2721375579834,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1672.4803246343856,
-    "Time_Data_Loading": 0.022312084833780926,
-    "Time_Epoch": 0.4559012532234192,
-    "Time_Log_Info": 0.0102218230565389,
-    "Time_Process_Batch": 0.022242204348246256,
-    "Time_Train_Batch": 0.3980689247449239
-}
-
-Epoch 295 Memory Usage: 3248 MB
-
-
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 50%|#####     | 251/500 [00:13<00:13, 18.55it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.19it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.40it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.56it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.27it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 296
-{
-    "Log_Likelihood": 20.287244132995607,
-    "Loss": -20.287244132995607,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1640.7788263930722,
-    "Time_Data_Loading": 0.023017768065134683,
-    "Time_Epoch": 0.45666411717732747,
-    "Time_Log_Info": 0.010191226005554199,
-    "Time_Process_Batch": 0.02218008041381836,
-    "Time_Train_Batch": 0.3982613245646159
-}
-
-Epoch 296 Memory Usage: 3248 MB
-
-
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  0%|          | 1/500 [00:00<02:13,  3.73it/s]
  1%|          | 3/500 [00:00<00:53,  9.24it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 297
-{
-    "Log_Likelihood": 20.287248905181883,
-    "Loss": -20.287248905181883,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1560.5665699920269,
-    "Time_Data_Loading": 0.023512136936187745,
-    "Time_Epoch": 0.4568264087041219,
-    "Time_Log_Info": 0.010214118162790935,
-    "Time_Process_Batch": 0.02202757994333903,
-    "Time_Train_Batch": 0.39802506764729817
-}
-
-Epoch 297 Memory Usage: 3249 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 298
-{
-    "Log_Likelihood": 20.29365105819702,
-    "Loss": -20.29365105819702,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1632.8343890741285,
-    "Time_Data_Loading": 0.02330435117085775,
-    "Time_Epoch": 0.4574558933575948,
-    "Time_Log_Info": 0.010204299290974935,
-    "Time_Process_Batch": 0.022086815039316813,
-    "Time_Train_Batch": 0.39879300594329836
-}
-
-Epoch 298 Memory Usage: 3249 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.28it/s]
-Train Epoch 299
-{
-    "Log_Likelihood": 20.29253870010376,
-    "Loss": -20.29253870010376,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1634.8016057506622,
-    "Time_Data_Loading": 0.023725152015686035,
-    "Time_Epoch": 0.4582492748896281,
-    "Time_Log_Info": 0.010182575384775797,
-    "Time_Process_Batch": 0.0226143479347229,
-    "Time_Train_Batch": 0.39873704115549724
-}
-
-Epoch 299 Memory Usage: 3250 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
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  1%|          | 3/500 [00:00<00:50,  9.77it/s]
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-Train Epoch 300
-{
-    "Log_Likelihood": 20.324568069458007,
-    "Loss": -20.324568069458007,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1652.3624794186217,
-    "Time_Data_Loading": 0.023565359910329185,
-    "Time_Epoch": 0.4569380839665731,
-    "Time_Log_Info": 0.01021265983581543,
-    "Time_Process_Batch": 0.022183577219645183,
-    "Time_Train_Batch": 0.39787880182266233
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_300.pth
-
-Epoch 300 Memory Usage: 3250 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 301
-{
-    "Log_Likelihood": 20.29839769744873,
-    "Loss": -20.29839769744873,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1610.6720144427857,
-    "Time_Data_Loading": 0.023143223921457925,
-    "Time_Epoch": 0.45676273504892984,
-    "Time_Log_Info": 0.010185444355010986,
-    "Time_Process_Batch": 0.022036202748616538,
-    "Time_Train_Batch": 0.3982792894045512
-}
-
-Epoch 301 Memory Usage: 3251 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:06,  3.95it/s]
  1%|          | 3/500 [00:00<00:52,  9.43it/s]
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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 302
-{
-    "Log_Likelihood": 20.28781348800659,
-    "Loss": -20.28781348800659,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1671.4826335196099,
-    "Time_Data_Loading": 0.022596009572347007,
-    "Time_Epoch": 0.45606096188227335,
-    "Time_Log_Info": 0.010235599676767985,
-    "Time_Process_Batch": 0.022144814332326252,
-    "Time_Train_Batch": 0.3980651537577311
-}
-
-Epoch 302 Memory Usage: 3251 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 303
-{
-    "Log_Likelihood": 20.315328266143798,
-    "Loss": -20.315328266143798,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1611.4722482074967,
-    "Time_Data_Loading": 0.02374943494796753,
-    "Time_Epoch": 0.4577625632286072,
-    "Time_Log_Info": 0.010222665468851725,
-    "Time_Process_Batch": 0.022656861941019693,
-    "Time_Train_Batch": 0.398081906636556
-}
-
-Epoch 303 Memory Usage: 3251 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 304
-{
-    "Log_Likelihood": 20.308675453186034,
-    "Loss": -20.308675453186034,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1657.3303888085977,
-    "Time_Data_Loading": 0.02292383909225464,
-    "Time_Epoch": 0.45621673663457235,
-    "Time_Log_Info": 0.01024534304936727,
-    "Time_Process_Batch": 0.02200797398885091,
-    "Time_Train_Batch": 0.3979892134666443
-}
-
-Epoch 304 Memory Usage: 3251 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.29it/s]
-Train Epoch 305
-{
-    "Log_Likelihood": 20.318476818084715,
-    "Loss": -20.318476818084715,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1652.5915773254608,
-    "Time_Data_Loading": 0.023432087898254395,
-    "Time_Epoch": 0.45819539626439415,
-    "Time_Log_Info": 0.010203468799591064,
-    "Time_Process_Batch": 0.02266892194747925,
-    "Time_Train_Batch": 0.39875187873840334
-}
-
-Epoch 305 Memory Usage: 3252 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 306
-{
-    "Log_Likelihood": 20.324973003387452,
-    "Loss": -20.324973003387452,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1647.5390566241974,
-    "Time_Data_Loading": 0.022964886824289956,
-    "Time_Epoch": 0.45693359375,
-    "Time_Log_Info": 0.010206103324890137,
-    "Time_Process_Batch": 0.022412645816802978,
-    "Time_Train_Batch": 0.3982909401257833
-}
-
-Epoch 306 Memory Usage: 3252 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 307
-{
-    "Log_Likelihood": 20.341446537017823,
-    "Loss": -20.341446537017823,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1635.0597589504744,
-    "Time_Data_Loading": 0.023374529679616292,
-    "Time_Epoch": 0.4567435304323832,
-    "Time_Log_Info": 0.010205372174580892,
-    "Time_Process_Batch": 0.022019068400065105,
-    "Time_Train_Batch": 0.39800366163253786
-}
-
-Epoch 307 Memory Usage: 3251 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 308
-{
-    "Log_Likelihood": 20.320362789154053,
-    "Loss": -20.320362789154053,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1554.215673224042,
-    "Time_Data_Loading": 0.02314780553181966,
-    "Time_Epoch": 0.45729129314422606,
-    "Time_Log_Info": 0.010216291745503743,
-    "Time_Process_Batch": 0.02204415003458659,
-    "Time_Train_Batch": 0.3987809340159098
-}
-
-Epoch 308 Memory Usage: 3252 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 309
-{
-    "Log_Likelihood": 20.31912372970581,
-    "Loss": -20.31912372970581,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1662.4314410393997,
-    "Time_Data_Loading": 0.02319972515106201,
-    "Time_Epoch": 0.45655550956726076,
-    "Time_Log_Info": 0.010189477602640789,
-    "Time_Process_Batch": 0.022185313701629638,
-    "Time_Train_Batch": 0.3979515592257182
-}
-
-Epoch 309 Memory Usage: 3252 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 310
-{
-    "Log_Likelihood": 20.32176477432251,
-    "Loss": -20.32176477432251,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1629.7163155425524,
-    "Time_Data_Loading": 0.02308951218922933,
-    "Time_Epoch": 0.45703825950622556,
-    "Time_Log_Info": 0.010204613208770752,
-    "Time_Process_Batch": 0.022462904453277588,
-    "Time_Train_Batch": 0.3982370138168335
-}
-
-Epoch 310 Memory Usage: 3253 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 311
-{
-    "Log_Likelihood": 20.314323719024657,
-    "Loss": -20.314323719024657,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1580.782577490123,
-    "Time_Data_Loading": 0.023093271255493163,
-    "Time_Epoch": 0.45685087839762367,
-    "Time_Log_Info": 0.01021424134572347,
-    "Time_Process_Batch": 0.022186104456583658,
-    "Time_Train_Batch": 0.39836036364237465
-}
-
-Epoch 311 Memory Usage: 3253 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 312
-{
-    "Log_Likelihood": 20.34817887878418,
-    "Loss": -20.34817887878418,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1563.9982546329745,
-    "Time_Data_Loading": 0.023050109545389812,
-    "Time_Epoch": 0.45699146191279094,
-    "Time_Log_Info": 0.010205578804016114,
-    "Time_Process_Batch": 0.021996748447418214,
-    "Time_Train_Batch": 0.39842172861099245
-}
-
-Epoch 312 Memory Usage: 3254 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 313
-{
-    "Log_Likelihood": 20.339772399902344,
-    "Loss": -20.339772399902344,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1607.921467824672,
-    "Time_Data_Loading": 0.02332845131556193,
-    "Time_Epoch": 0.4576770822207133,
-    "Time_Log_Info": 0.010236144065856934,
-    "Time_Process_Batch": 0.022523184617360432,
-    "Time_Train_Batch": 0.3984053015708923
-}
-
-Epoch 313 Memory Usage: 3253 MB
-
-
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  2%|1         | 9/500 [00:00<00:31, 15.55it/s]
  2%|2         | 11/500 [00:00<00:29, 16.50it/s]
  3%|2         | 13/500 [00:00<00:28, 17.09it/s]
  3%|3         | 15/500 [00:01<00:27, 17.65it/s]
  3%|3         | 17/500 [00:01<00:27, 17.82it/s]
  4%|3         | 19/500 [00:01<00:26, 18.17it/s]
  4%|4         | 21/500 [00:01<00:26, 18.26it/s]
  5%|4         | 23/500 [00:01<00:25, 18.52it/s]
  5%|5         | 25/500 [00:01<00:25, 18.32it/s]
  5%|5         | 27/500 [00:01<00:25, 18.47it/s]
  6%|5         | 29/500 [00:01<00:25, 18.33it/s]
  6%|6         | 31/500 [00:01<00:25, 18.48it/s]
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 10%|9         | 49/500 [00:02<00:24, 18.33it/s]
 10%|#         | 51/500 [00:02<00:24, 18.34it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.52it/s]
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 13%|#3        | 65/500 [00:03<00:23, 18.61it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.72it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.62it/s]
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 15%|#4        | 73/500 [00:04<00:22, 18.57it/s]
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 16%|#5        | 79/500 [00:04<00:22, 18.62it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.49it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.53it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.57it/s]
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 23%|##3       | 117/500 [00:06<00:20, 18.56it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.53it/s]
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 30%|###       | 151/500 [00:08<00:19, 18.33it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.51it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.66it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.17it/s]
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 51%|#####1    | 255/500 [00:14<00:13, 18.28it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 314
-{
-    "Log_Likelihood": 20.363788776397705,
-    "Loss": -20.363788776397705,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1760.0092761621522,
-    "Time_Data_Loading": 0.02301089366277059,
-    "Time_Epoch": 0.4568193157513936,
-    "Time_Log_Info": 0.010189878940582275,
-    "Time_Process_Batch": 0.022237988313039143,
-    "Time_Train_Batch": 0.39838386376698814
-}
-
-Epoch 314 Memory Usage: 3254 MB
-
-
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 15%|#4        | 73/500 [00:04<00:23, 18.48it/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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 50%|#####     | 251/500 [00:13<00:13, 18.62it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.64it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.64it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.40it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.58it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.56it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.60it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 315
-{
-    "Log_Likelihood": 20.33310991668701,
-    "Loss": -20.33310991668701,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1656.4679152826616,
-    "Time_Data_Loading": 0.023139520486195882,
-    "Time_Epoch": 0.45673182408014934,
-    "Time_Log_Info": 0.010203782717386882,
-    "Time_Process_Batch": 0.022246781984965006,
-    "Time_Train_Batch": 0.3981279174486796
-}
-
-Epoch 315 Memory Usage: 3255 MB
-
-
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  0%|          | 1/500 [00:00<02:11,  3.80it/s]
  1%|          | 3/500 [00:00<00:53,  9.23it/s]
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 22%|##2       | 111/500 [00:06<00:21, 18.48it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 316
-{
-    "Log_Likelihood": 20.352729537963867,
-    "Loss": -20.352729537963867,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1545.2056402320748,
-    "Time_Data_Loading": 0.02349013090133667,
-    "Time_Epoch": 0.45805668433507285,
-    "Time_Log_Info": 0.010178486506144205,
-    "Time_Process_Batch": 0.022470176219940186,
-    "Time_Train_Batch": 0.3986438790957133
-}
-
-Epoch 316 Memory Usage: 3255 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 317
-{
-    "Log_Likelihood": 20.363969219207764,
-    "Loss": -20.363969219207764,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1541.3986634962064,
-    "Time_Data_Loading": 0.02289265791575114,
-    "Time_Epoch": 0.4567403793334961,
-    "Time_Log_Info": 0.010190920035044352,
-    "Time_Process_Batch": 0.022227780024210612,
-    "Time_Train_Batch": 0.39836558103561404
-}
-
-Epoch 317 Memory Usage: 3255 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 318
-{
-    "Log_Likelihood": 20.34027505874634,
-    "Loss": -20.34027505874634,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1571.9934496481153,
-    "Time_Data_Loading": 0.02253264586130778,
-    "Time_Epoch": 0.4559409737586975,
-    "Time_Log_Info": 0.010213991006215414,
-    "Time_Process_Batch": 0.022381114959716796,
-    "Time_Train_Batch": 0.3977745771408081
-}
-
-Epoch 318 Memory Usage: 3255 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 319
-{
-    "Log_Likelihood": 20.359779598236084,
-    "Loss": -20.359779598236084,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1640.2342387412623,
-    "Time_Data_Loading": 0.022877871990203857,
-    "Time_Epoch": 0.4570080995559692,
-    "Time_Log_Info": 0.010242100556691487,
-    "Time_Process_Batch": 0.022345189253489176,
-    "Time_Train_Batch": 0.39854498306910197
-}
-
-Epoch 319 Memory Usage: 3255 MB
-
-
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-Train Epoch 320
-{
-    "Log_Likelihood": 20.381579261779784,
-    "Loss": -20.381579261779784,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1596.4772251825132,
-    "Time_Data_Loading": 0.02246652841567993,
-    "Time_Epoch": 0.45628856817881264,
-    "Time_Log_Info": 0.010223571459452312,
-    "Time_Process_Batch": 0.02219026486078898,
-    "Time_Train_Batch": 0.3983733534812927
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_320.pth
-
-Epoch 320 Memory Usage: 3256 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 321
-{
-    "Log_Likelihood": 20.357399196624755,
-    "Loss": -20.357399196624755,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1576.5708350840994,
-    "Time_Data_Loading": 0.022613346576690674,
-    "Time_Epoch": 0.456381626923879,
-    "Time_Log_Info": 0.010214583079020182,
-    "Time_Process_Batch": 0.022160116831461588,
-    "Time_Train_Batch": 0.3983505169550578
-}
-
-Epoch 321 Memory Usage: 3255 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 322
-{
-    "Log_Likelihood": 20.370580432891845,
-    "Loss": -20.370580432891845,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1696.548118175172,
-    "Time_Data_Loading": 0.02260249455769857,
-    "Time_Epoch": 0.456597101688385,
-    "Time_Log_Info": 0.01020577351252238,
-    "Time_Process_Batch": 0.022057056427001953,
-    "Time_Train_Batch": 0.3985803643862406
-}
-
-Epoch 322 Memory Usage: 3256 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 323
-{
-    "Log_Likelihood": 20.402567249298095,
-    "Loss": -20.402567249298095,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1694.4932895675622,
-    "Time_Data_Loading": 0.02322914203008016,
-    "Time_Epoch": 0.4571848034858704,
-    "Time_Log_Info": 0.010216931502024332,
-    "Time_Process_Batch": 0.022390774885813394,
-    "Time_Train_Batch": 0.3981475631395976
-}
-
-Epoch 323 Memory Usage: 3256 MB
-
-
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 12%|#2        | 61/500 [00:03<00:24, 18.29it/s]
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 13%|#3        | 65/500 [00:03<00:23, 18.43it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.40it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.49it/s]
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 15%|#4        | 73/500 [00:04<00:23, 18.56it/s]
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 16%|#5        | 79/500 [00:04<00:22, 18.45it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.49it/s]
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 17%|#7        | 87/500 [00:04<00:22, 18.47it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.53it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.49it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.54it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.61it/s]
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 23%|##3       | 115/500 [00:06<00:20, 18.49it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.53it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.55it/s]
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 27%|##7       | 137/500 [00:07<00:19, 18.69it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.43it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.46it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.39it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.36it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.32it/s]
 34%|###3      | 169/500 [00:09<00:18, 18.36it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.50it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.49it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.40it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.45it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.48it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.57it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.59it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.59it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.49it/s]
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 93%|#########3| 467/500 [00:25<00:01, 18.58it/s]
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 96%|#########6| 481/500 [00:26<00:01, 18.56it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.58it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.57it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.63it/s]
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 99%|#########9| 497/500 [00:27<00:00, 18.66it/s]
100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 324
-{
-    "Log_Likelihood": 20.34850260925293,
-    "Loss": -20.34850260925293,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1573.8233814009652,
-    "Time_Data_Loading": 0.02272875706354777,
-    "Time_Epoch": 0.4560766935348511,
-    "Time_Log_Info": 0.010256914297739665,
-    "Time_Process_Batch": 0.022000233332316082,
-    "Time_Train_Batch": 0.3980190436045329
-}
-
-Epoch 324 Memory Usage: 3258 MB
-
-
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  0%|          | 1/500 [00:00<02:00,  4.14it/s]
  1%|          | 3/500 [00:00<00:50,  9.82it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.33it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.26it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.34it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 325
-{
-    "Log_Likelihood": 20.39132648086548,
-    "Loss": -20.39132648086548,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1657.8179179063438,
-    "Time_Data_Loading": 0.022618810335795086,
-    "Time_Epoch": 0.4560976465543111,
-    "Time_Log_Info": 0.010200071334838866,
-    "Time_Process_Batch": 0.02201730410257975,
-    "Time_Train_Batch": 0.39812817176183063
-}
-
-Epoch 325 Memory Usage: 3258 MB
-
-
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  1%|          | 3/500 [00:00<00:52,  9.41it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 326
-{
-    "Log_Likelihood": 20.39293595123291,
-    "Loss": -20.39293595123291,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1582.0519044114471,
-    "Time_Data_Loading": 0.022520569960276286,
-    "Time_Epoch": 0.4560164014498393,
-    "Time_Log_Info": 0.010221743583679199,
-    "Time_Process_Batch": 0.022062512238820393,
-    "Time_Train_Batch": 0.3982033054033915
-}
-
-Epoch 326 Memory Usage: 3258 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 327
-{
-    "Log_Likelihood": 20.389184329986573,
-    "Loss": -20.389184329986573,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1624.0548381751325,
-    "Time_Data_Loading": 0.022429223855336508,
-    "Time_Epoch": 0.4556261658668518,
-    "Time_Log_Info": 0.010236529509226482,
-    "Time_Process_Batch": 0.022043279806772866,
-    "Time_Train_Batch": 0.39789369106292727
-}
-
-Epoch 327 Memory Usage: 3259 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 328
-{
-    "Log_Likelihood": 20.409899822235108,
-    "Loss": -20.409899822235108,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1654.201121380046,
-    "Time_Data_Loading": 0.023906517028808593,
-    "Time_Epoch": 0.457525360584259,
-    "Time_Log_Info": 0.010214749972025554,
-    "Time_Process_Batch": 0.022144810358683268,
-    "Time_Train_Batch": 0.3981224377950033
-}
-
-Epoch 328 Memory Usage: 3260 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.27it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 329
-{
-    "Log_Likelihood": 20.380021724700928,
-    "Loss": -20.380021724700928,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1558.6297796971355,
-    "Time_Data_Loading": 0.022754319508870444,
-    "Time_Epoch": 0.45619088808695474,
-    "Time_Log_Info": 0.010236084461212158,
-    "Time_Process_Batch": 0.02220144271850586,
-    "Time_Train_Batch": 0.3977119286855062
-}
-
-Epoch 329 Memory Usage: 3260 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:21,  3.53it/s]
  1%|          | 3/500 [00:00<00:55,  8.94it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 330
-{
-    "Log_Likelihood": 20.406845691680907,
-    "Loss": -20.406845691680907,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1629.136970105232,
-    "Time_Data_Loading": 0.023334765434265138,
-    "Time_Epoch": 0.4576939264933268,
-    "Time_Log_Info": 0.010188917318979899,
-    "Time_Process_Batch": 0.02230922778447469,
-    "Time_Train_Batch": 0.39863895972569785
-}
-
-Epoch 330 Memory Usage: 3260 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 331
-{
-    "Log_Likelihood": 20.391655475616457,
-    "Loss": -20.391655475616457,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1678.8500011737726,
-    "Time_Data_Loading": 0.02350587844848633,
-    "Time_Epoch": 0.4570504585901896,
-    "Time_Log_Info": 0.01021721363067627,
-    "Time_Process_Batch": 0.022063910961151123,
-    "Time_Train_Batch": 0.3980741500854492
-}
-
-Epoch 331 Memory Usage: 3260 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 332
-{
-    "Log_Likelihood": 20.43541862106323,
-    "Loss": -20.43541862106323,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1620.6336735335603,
-    "Time_Data_Loading": 0.023217423756917318,
-    "Time_Epoch": 0.45695035457611083,
-    "Time_Log_Info": 0.01021250089009603,
-    "Time_Process_Batch": 0.02212855815887451,
-    "Time_Train_Batch": 0.39824000199635823
-}
-
-Epoch 332 Memory Usage: 3260 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
-Train Epoch 333
-{
-    "Log_Likelihood": 20.429096378326417,
-    "Loss": -20.429096378326417,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1603.4673726958297,
-    "Time_Data_Loading": 0.02173737684885661,
-    "Time_Epoch": 0.45514883995056155,
-    "Time_Log_Info": 0.010226611296335857,
-    "Time_Process_Batch": 0.021868054072062174,
-    "Time_Train_Batch": 0.39799909194310507
-}
-
-Epoch 333 Memory Usage: 3261 MB
-
-
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  0%|          | 1/500 [00:00<02:08,  3.88it/s]
  1%|          | 3/500 [00:00<00:52,  9.45it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 334
-{
-    "Log_Likelihood": 20.369834812164306,
-    "Loss": -20.369834812164306,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1620.14098243731,
-    "Time_Data_Loading": 0.022992360591888427,
-    "Time_Epoch": 0.4565031846364339,
-    "Time_Log_Info": 0.010202372074127197,
-    "Time_Process_Batch": 0.021893866856892905,
-    "Time_Train_Batch": 0.39830233256022135
-}
-
-Epoch 334 Memory Usage: 3262 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 335
-{
-    "Log_Likelihood": 20.405940032958984,
-    "Loss": -20.405940032958984,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1703.0488555826917,
-    "Time_Data_Loading": 0.023315576712290446,
-    "Time_Epoch": 0.4570896625518799,
-    "Time_Log_Info": 0.010209810733795167,
-    "Time_Process_Batch": 0.02225637435913086,
-    "Time_Train_Batch": 0.3979791839917501
-}
-
-Epoch 335 Memory Usage: 3262 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 336
-{
-    "Log_Likelihood": 20.40660376739502,
-    "Loss": -20.40660376739502,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1602.4903636635277,
-    "Time_Data_Loading": 0.022905433177948,
-    "Time_Epoch": 0.4564990242322286,
-    "Time_Log_Info": 0.010210688908894856,
-    "Time_Process_Batch": 0.02228269577026367,
-    "Time_Train_Batch": 0.3979319453239441
-}
-
-Epoch 336 Memory Usage: 3262 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 337
-{
-    "Log_Likelihood": 20.416306915283204,
-    "Loss": -20.416306915283204,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1636.4591910032773,
-    "Time_Data_Loading": 0.022776480515797934,
-    "Time_Epoch": 0.4560040275255839,
-    "Time_Log_Info": 0.010199586550394693,
-    "Time_Process_Batch": 0.021848090489705405,
-    "Time_Train_Batch": 0.39815256198247273
-}
-
-Epoch 337 Memory Usage: 3263 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 338
-{
-    "Log_Likelihood": 20.46681661605835,
-    "Loss": -20.46681661605835,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1586.3806018937655,
-    "Time_Data_Loading": 0.023217407862345378,
-    "Time_Epoch": 0.4576551874478658,
-    "Time_Log_Info": 0.010223182042439778,
-    "Time_Process_Batch": 0.022324482599894207,
-    "Time_Train_Batch": 0.3984223484992981
-}
-
-Epoch 338 Memory Usage: 3262 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 339
-{
-    "Log_Likelihood": 20.4260068359375,
-    "Loss": -20.4260068359375,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1698.3032800963958,
-    "Time_Data_Loading": 0.023086790243784586,
-    "Time_Epoch": 0.45665862957636516,
-    "Time_Log_Info": 0.010231077671051025,
-    "Time_Process_Batch": 0.022254109382629395,
-    "Time_Train_Batch": 0.39806029001871746
-}
-
-Epoch 339 Memory Usage: 3263 MB
-
-
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-Train Epoch 340
-{
-    "Log_Likelihood": 20.440374500274658,
-    "Loss": -20.440374500274658,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1673.9165008982784,
-    "Time_Data_Loading": 0.022514776388804118,
-    "Time_Epoch": 0.45639408429463707,
-    "Time_Log_Info": 0.010217543443044026,
-    "Time_Process_Batch": 0.02240333557128906,
-    "Time_Train_Batch": 0.39804099798202514
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_340.pth
-
-Epoch 340 Memory Usage: 3263 MB
-
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-Train Epoch 341
-{
-    "Log_Likelihood": 20.43502868270874,
-    "Loss": -20.43502868270874,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1579.7769697628087,
-    "Time_Data_Loading": 0.02198138236999512,
-    "Time_Epoch": 0.45562041997909547,
-    "Time_Log_Info": 0.010207835833231609,
-    "Time_Process_Batch": 0.022295419375101724,
-    "Time_Train_Batch": 0.39805614153544105
-}
-
-Epoch 341 Memory Usage: 3263 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 342
-{
-    "Log_Likelihood": 20.437592292785645,
-    "Loss": -20.437592292785645,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1642.612603241432,
-    "Time_Data_Loading": 0.022298280398050943,
-    "Time_Epoch": 0.45562129020690917,
-    "Time_Log_Info": 0.010216311613718668,
-    "Time_Process_Batch": 0.022063732147216797,
-    "Time_Train_Batch": 0.3980055491129557
-}
-
-Epoch 342 Memory Usage: 3262 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, 18.62it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 343
-{
-    "Log_Likelihood": 20.446761108398437,
-    "Loss": -20.446761108398437,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1678.8553295342094,
-    "Time_Data_Loading": 0.02341057062149048,
-    "Time_Epoch": 0.45671497186024984,
-    "Time_Log_Info": 0.010230052471160888,
-    "Time_Process_Batch": 0.02199350595474243,
-    "Time_Train_Batch": 0.397967267036438
-}
-
-Epoch 343 Memory Usage: 3264 MB
-
-
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  1%|          | 3/500 [00:00<00:54,  9.19it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 344
-{
-    "Log_Likelihood": 20.45127606201172,
-    "Loss": -20.45127606201172,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1676.335729215899,
-    "Time_Data_Loading": 0.022391370932261147,
-    "Time_Epoch": 0.4558757702509562,
-    "Time_Log_Info": 0.010228562355041503,
-    "Time_Process_Batch": 0.022066815694173177,
-    "Time_Train_Batch": 0.3981138785680135
-}
-
-Epoch 344 Memory Usage: 3264 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 345
-{
-    "Log_Likelihood": 20.4064314994812,
-    "Loss": -20.4064314994812,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1621.5858947327765,
-    "Time_Data_Loading": 0.022704529762268066,
-    "Time_Epoch": 0.45658522844314575,
-    "Time_Log_Info": 0.01023164987564087,
-    "Time_Process_Batch": 0.02236309051513672,
-    "Time_Train_Batch": 0.3980831980705261
-}
-
-Epoch 345 Memory Usage: 3265 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 346
-{
-    "Log_Likelihood": 20.46888059616089,
-    "Loss": -20.46888059616089,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1730.1532163463899,
-    "Time_Data_Loading": 0.02240076462427775,
-    "Time_Epoch": 0.4558873852094015,
-    "Time_Log_Info": 0.010232762495676676,
-    "Time_Process_Batch": 0.02214796543121338,
-    "Time_Train_Batch": 0.39799516995747886
-}
-
-Epoch 346 Memory Usage: 3265 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 347
-{
-    "Log_Likelihood": 20.474905769348144,
-    "Loss": -20.474905769348144,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1690.8531660107724,
-    "Time_Data_Loading": 0.02228500445683797,
-    "Time_Epoch": 0.45607662200927734,
-    "Time_Log_Info": 0.010189839204152425,
-    "Time_Process_Batch": 0.022189533710479735,
-    "Time_Train_Batch": 0.39833685557047527
-}
-
-Epoch 347 Memory Usage: 3266 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 348
-{
-    "Log_Likelihood": 20.45383558654785,
-    "Loss": -20.45383558654785,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1607.5817696480067,
-    "Time_Data_Loading": 0.022465952237447104,
-    "Time_Epoch": 0.4565357724825541,
-    "Time_Log_Info": 0.010205729802449545,
-    "Time_Process_Batch": 0.022320552666982015,
-    "Time_Train_Batch": 0.39830732345581055
-}
-
-Epoch 348 Memory Usage: 3266 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 349
-{
-    "Log_Likelihood": 20.47678514099121,
-    "Loss": -20.47678514099121,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1602.8805204967507,
-    "Time_Data_Loading": 0.022340838114420572,
-    "Time_Epoch": 0.4564741333325704,
-    "Time_Log_Info": 0.010213792324066162,
-    "Time_Process_Batch": 0.022259835402170816,
-    "Time_Train_Batch": 0.3984578371047974
-}
-
-Epoch 349 Memory Usage: 3266 MB
-
-
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 98%|#########7| 489/500 [00:26<00:00, 18.49it/s]
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 99%|#########9| 497/500 [00:27<00:00, 18.60it/s]
100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 350
-{
-    "Log_Likelihood": 20.441547424316408,
-    "Loss": -20.441547424316408,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1521.0927381294605,
-    "Time_Data_Loading": 0.022983646392822264,
-    "Time_Epoch": 0.45635979970296225,
-    "Time_Log_Info": 0.010224672158559163,
-    "Time_Process_Batch": 0.022108916441599527,
-    "Time_Train_Batch": 0.39794679085413615
-}
-
-Epoch 350 Memory Usage: 3266 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:07,  3.92it/s]
  1%|          | 3/500 [00:00<00:52,  9.44it/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, 18.26it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 351
-{
-    "Log_Likelihood": 20.471382961273193,
-    "Loss": -20.471382961273193,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1653.1263795436355,
-    "Time_Data_Loading": 0.0225902001063029,
-    "Time_Epoch": 0.4557367205619812,
-    "Time_Log_Info": 0.010236748059590657,
-    "Time_Process_Batch": 0.021872099240620932,
-    "Time_Train_Batch": 0.39803845087687173
-}
-
-Epoch 351 Memory Usage: 3267 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:03,  4.04it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 352
-{
-    "Log_Likelihood": 20.477991031646727,
-    "Loss": -20.477991031646727,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1656.8719527389333,
-    "Time_Data_Loading": 0.0231827974319458,
-    "Time_Epoch": 0.45662111043930054,
-    "Time_Log_Info": 0.010237642129262288,
-    "Time_Process_Batch": 0.022086254755655923,
-    "Time_Train_Batch": 0.3981072147687276
-}
-
-Epoch 352 Memory Usage: 3267 MB
-
-
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 50%|#####     | 251/500 [00:13<00:13, 18.37it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.40it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.36it/s]
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 71%|#######   | 353/500 [00:19<00:07, 18.42it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.49it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 353
-{
-    "Log_Likelihood": 20.475558311462404,
-    "Loss": -20.475558311462404,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1584.6172578362878,
-    "Time_Data_Loading": 0.022682380676269532,
-    "Time_Epoch": 0.4566429018974304,
-    "Time_Log_Info": 0.010207303365071614,
-    "Time_Process_Batch": 0.02257803678512573,
-    "Time_Train_Batch": 0.39808651208877566
-}
-
-Epoch 353 Memory Usage: 3267 MB
-
-
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  0%|          | 1/500 [00:00<02:03,  4.05it/s]
  1%|          | 3/500 [00:00<00:51,  9.67it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 354
-{
-    "Log_Likelihood": 20.483660614013672,
-    "Loss": -20.483660614013672,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1673.503728438838,
-    "Time_Data_Loading": 0.02265953222910563,
-    "Time_Epoch": 0.4565176208813985,
-    "Time_Log_Info": 0.010215691725413005,
-    "Time_Process_Batch": 0.02221325635910034,
-    "Time_Train_Batch": 0.39830836455027263
-}
-
-Epoch 354 Memory Usage: 3268 MB
-
-
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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 355
-{
-    "Log_Likelihood": 20.4385577583313,
-    "Loss": -20.4385577583313,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1565.5344465479748,
-    "Time_Data_Loading": 0.022742684682210287,
-    "Time_Epoch": 0.4563756783803304,
-    "Time_Log_Info": 0.01020266612370809,
-    "Time_Process_Batch": 0.022368685404459635,
-    "Time_Train_Batch": 0.39794320265452066
-}
-
-Epoch 355 Memory Usage: 3268 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 356
-{
-    "Log_Likelihood": 20.483899559020998,
-    "Loss": -20.483899559020998,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1739.1112733227815,
-    "Time_Data_Loading": 0.022365097204844156,
-    "Time_Epoch": 0.4562884370485942,
-    "Time_Log_Info": 0.010200957457224527,
-    "Time_Process_Batch": 0.022343806425730386,
-    "Time_Train_Batch": 0.39820146560668945
-}
-
-Epoch 356 Memory Usage: 3268 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 357
-{
-    "Log_Likelihood": 20.490676052093505,
-    "Loss": -20.490676052093505,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1619.6921469446108,
-    "Time_Data_Loading": 0.02328489621480306,
-    "Time_Epoch": 0.456572151184082,
-    "Time_Log_Info": 0.01021338701248169,
-    "Time_Process_Batch": 0.022042508920033774,
-    "Time_Train_Batch": 0.3979596177736918
-}
-
-Epoch 357 Memory Usage: 3268 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.23it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 358
-{
-    "Log_Likelihood": 20.474224201202393,
-    "Loss": -20.474224201202393,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1663.1126773527665,
-    "Time_Data_Loading": 0.02305730978647868,
-    "Time_Epoch": 0.456955353418986,
-    "Time_Log_Info": 0.010191114743550618,
-    "Time_Process_Batch": 0.022405874729156495,
-    "Time_Train_Batch": 0.39821473360061643
-}
-
-Epoch 358 Memory Usage: 3269 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 359
-{
-    "Log_Likelihood": 20.492089645385743,
-    "Loss": -20.492089645385743,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1677.6753007022571,
-    "Time_Data_Loading": 0.023628493150075276,
-    "Time_Epoch": 0.45749921003977456,
-    "Time_Log_Info": 0.010196848710378011,
-    "Time_Process_Batch": 0.022317755222320556,
-    "Time_Train_Batch": 0.39784407218297324
-}
-
-Epoch 359 Memory Usage: 3269 MB
-
-
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-Train Epoch 360
-{
-    "Log_Likelihood": 20.515209659576417,
-    "Loss": -20.515209659576417,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1712.0085752609082,
-    "Time_Data_Loading": 0.02339111566543579,
-    "Time_Epoch": 0.45732874075571694,
-    "Time_Log_Info": 0.010203111171722411,
-    "Time_Process_Batch": 0.02230714956919352,
-    "Time_Train_Batch": 0.39820488293965656
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_360.pth
-
-Epoch 360 Memory Usage: 3269 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 361
-{
-    "Log_Likelihood": 20.47879218673706,
-    "Loss": -20.47879218673706,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1629.279856453483,
-    "Time_Data_Loading": 0.022685460249582925,
-    "Time_Epoch": 0.4562684138615926,
-    "Time_Log_Info": 0.010222677389780681,
-    "Time_Process_Batch": 0.021806736787160236,
-    "Time_Train_Batch": 0.39845914840698243
-}
-
-Epoch 361 Memory Usage: 3270 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 362
-{
-    "Log_Likelihood": 20.501185527801514,
-    "Loss": -20.501185527801514,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1749.6175021454524,
-    "Time_Data_Loading": 0.023566238085428872,
-    "Time_Epoch": 0.4575446883837382,
-    "Time_Log_Info": 0.010199105739593506,
-    "Time_Process_Batch": 0.022618822256724038,
-    "Time_Train_Batch": 0.3981353243192037
-}
-
-Epoch 362 Memory Usage: 3271 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 363
-{
-    "Log_Likelihood": 20.52900758743286,
-    "Loss": -20.52900758743286,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1612.8849822745613,
-    "Time_Data_Loading": 0.022781638304392497,
-    "Time_Epoch": 0.4568489273389181,
-    "Time_Log_Info": 0.010203754901885987,
-    "Time_Process_Batch": 0.02248210906982422,
-    "Time_Train_Batch": 0.3982901414235433
-}
-
-Epoch 363 Memory Usage: 3271 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 364
-{
-    "Log_Likelihood": 20.499693393707275,
-    "Loss": -20.499693393707275,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1621.10467959565,
-    "Time_Data_Loading": 0.023317654927571613,
-    "Time_Epoch": 0.4577948967615763,
-    "Time_Log_Info": 0.010209290186564128,
-    "Time_Process_Batch": 0.022348252932230632,
-    "Time_Train_Batch": 0.39866036574045816
-}
-
-Epoch 364 Memory Usage: 3271 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 365
-{
-    "Log_Likelihood": 20.529298858642576,
-    "Loss": -20.529298858642576,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1623.169456390244,
-    "Time_Data_Loading": 0.022946163018544515,
-    "Time_Epoch": 0.4566994309425354,
-    "Time_Log_Info": 0.010213148593902589,
-    "Time_Process_Batch": 0.02206469774246216,
-    "Time_Train_Batch": 0.3980141758918762
-}
-
-Epoch 365 Memory Usage: 3271 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 366
-{
-    "Log_Likelihood": 20.525836097717285,
-    "Loss": -20.525836097717285,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1660.7559767042353,
-    "Time_Data_Loading": 0.023252689838409425,
-    "Time_Epoch": 0.45698355038960775,
-    "Time_Log_Info": 0.010232063134511311,
-    "Time_Process_Batch": 0.022466460863749187,
-    "Time_Train_Batch": 0.3980274279912313
-}
-
-Epoch 366 Memory Usage: 3271 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.42it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 367
-{
-    "Log_Likelihood": 20.489606048583983,
-    "Loss": -20.489606048583983,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1561.6278443068315,
-    "Time_Data_Loading": 0.022939602533976238,
-    "Time_Epoch": 0.4566330790519714,
-    "Time_Log_Info": 0.010208972295125325,
-    "Time_Process_Batch": 0.022384480635325114,
-    "Time_Train_Batch": 0.39804784456888836
-}
-
-Epoch 367 Memory Usage: 3272 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 368
-{
-    "Log_Likelihood": 20.50746039199829,
-    "Loss": -20.50746039199829,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1661.8282480498003,
-    "Time_Data_Loading": 0.022661725680033367,
-    "Time_Epoch": 0.45701920986175537,
-    "Time_Log_Info": 0.010203468799591064,
-    "Time_Process_Batch": 0.022453788916269937,
-    "Time_Train_Batch": 0.39843729734420774
-}
-
-Epoch 368 Memory Usage: 3272 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 369
-{
-    "Log_Likelihood": 20.50779596710205,
-    "Loss": -20.50779596710205,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1600.5873679236663,
-    "Time_Data_Loading": 0.022595377763112386,
-    "Time_Epoch": 0.45607473452885944,
-    "Time_Log_Info": 0.010212647914886474,
-    "Time_Process_Batch": 0.022155519326527914,
-    "Time_Train_Batch": 0.39800433317820233
-}
-
-Epoch 369 Memory Usage: 3272 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 370
-{
-    "Log_Likelihood": 20.574895233154297,
-    "Loss": -20.574895233154297,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1669.4022006781618,
-    "Time_Data_Loading": 0.02305737336476644,
-    "Time_Epoch": 0.45679250955581663,
-    "Time_Log_Info": 0.010225359598795574,
-    "Time_Process_Batch": 0.022241437435150148,
-    "Time_Train_Batch": 0.39804262717564903
-}
-
-Epoch 370 Memory Usage: 3273 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.31it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 371
-{
-    "Log_Likelihood": 20.545610706329345,
-    "Loss": -20.545610706329345,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1734.9209557718082,
-    "Time_Data_Loading": 0.02363190253575643,
-    "Time_Epoch": 0.4574469248453776,
-    "Time_Log_Info": 0.010232396920522054,
-    "Time_Process_Batch": 0.022452175617218018,
-    "Time_Train_Batch": 0.3980960806210836
-}
-
-Epoch 371 Memory Usage: 3273 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 372
-{
-    "Log_Likelihood": 20.549575359344484,
-    "Loss": -20.549575359344484,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1721.2362429024683,
-    "Time_Data_Loading": 0.0229310671488444,
-    "Time_Epoch": 0.45632849136988324,
-    "Time_Log_Info": 0.010195215543111166,
-    "Time_Process_Batch": 0.022257717450459798,
-    "Time_Train_Batch": 0.39774646759033205
-}
-
-Epoch 372 Memory Usage: 3274 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.19it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 373
-{
-    "Log_Likelihood": 20.557263252258302,
-    "Loss": -20.557263252258302,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1612.6977896415128,
-    "Time_Data_Loading": 0.02332472801208496,
-    "Time_Epoch": 0.45701854626337685,
-    "Time_Log_Info": 0.010217885176340738,
-    "Time_Process_Batch": 0.022163244088490804,
-    "Time_Train_Batch": 0.3981890837351481
-}
-
-Epoch 373 Memory Usage: 3274 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 374
-{
-    "Log_Likelihood": 20.54002132797241,
-    "Loss": -20.54002132797241,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1778.0449918143445,
-    "Time_Data_Loading": 0.022597090403238932,
-    "Time_Epoch": 0.45660860935846964,
-    "Time_Log_Info": 0.010204470157623291,
-    "Time_Process_Batch": 0.02231789827346802,
-    "Time_Train_Batch": 0.3984450181325277
-}
-
-Epoch 374 Memory Usage: 3274 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 375
-{
-    "Log_Likelihood": 20.556765369415285,
-    "Loss": -20.556765369415285,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1634.063903469237,
-    "Time_Data_Loading": 0.023173415660858156,
-    "Time_Epoch": 0.45704332590103147,
-    "Time_Log_Info": 0.01019272009531657,
-    "Time_Process_Batch": 0.02210111220677694,
-    "Time_Train_Batch": 0.39845210711161294
-}
-
-Epoch 375 Memory Usage: 3274 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.20it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 376
-{
-    "Log_Likelihood": 20.590927917480467,
-    "Loss": -20.590927917480467,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1772.453009060032,
-    "Time_Data_Loading": 0.02339237928390503,
-    "Time_Epoch": 0.4572205901145935,
-    "Time_Log_Info": 0.010224334398905436,
-    "Time_Process_Batch": 0.02238921324412028,
-    "Time_Train_Batch": 0.397883927822113
-}
-
-Epoch 376 Memory Usage: 3274 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 377
-{
-    "Log_Likelihood": 20.545190238952635,
-    "Loss": -20.545190238952635,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1773.7008698562602,
-    "Time_Data_Loading": 0.023139727115631104,
-    "Time_Epoch": 0.4566950758298238,
-    "Time_Log_Info": 0.010190987586975097,
-    "Time_Process_Batch": 0.022247974077860513,
-    "Time_Train_Batch": 0.39812915325164794
-}
-
-Epoch 377 Memory Usage: 3275 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 378
-{
-    "Log_Likelihood": 20.56953383255005,
-    "Loss": -20.56953383255005,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1610.6466767598147,
-    "Time_Data_Loading": 0.022239152590433756,
-    "Time_Epoch": 0.4561811765034994,
-    "Time_Log_Info": 0.010213041305541992,
-    "Time_Process_Batch": 0.022143896420796713,
-    "Time_Train_Batch": 0.39840890566507975
-}
-
-Epoch 378 Memory Usage: 3275 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 379
-{
-    "Log_Likelihood": 20.586059158325195,
-    "Loss": -20.586059158325195,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1651.4642853817095,
-    "Time_Data_Loading": 0.022457444667816163,
-    "Time_Epoch": 0.45675549109776814,
-    "Time_Log_Info": 0.010208213329315185,
-    "Time_Process_Batch": 0.02259559233983358,
-    "Time_Train_Batch": 0.3982081214586894
-}
-
-Epoch 379 Memory Usage: 3275 MB
-
-
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  0%|          | 1/500 [00:00<02:30,  3.32it/s]
  1%|          | 3/500 [00:00<00:58,  8.57it/s]
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-Train Epoch 380
-{
-    "Log_Likelihood": 20.55289696121216,
-    "Loss": -20.55289696121216,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1716.5623342893762,
-    "Time_Data_Loading": 0.023461004098256428,
-    "Time_Epoch": 0.4566291570663452,
-    "Time_Log_Info": 0.01022575298945109,
-    "Time_Process_Batch": 0.022315569718678794,
-    "Time_Train_Batch": 0.3975337823232015
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_380.pth
-
-Epoch 380 Memory Usage: 3276 MB
-
-
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 50%|#####     | 251/500 [00:13<00:13, 18.65it/s]
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 51%|#####1    | 255/500 [00:14<00:13, 18.61it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.49it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 381
-{
-    "Log_Likelihood": 20.560982219696044,
-    "Loss": -20.560982219696044,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1841.9061072256109,
-    "Time_Data_Loading": 0.02295718193054199,
-    "Time_Epoch": 0.45654861132303876,
-    "Time_Log_Info": 0.010183409849802653,
-    "Time_Process_Batch": 0.02204763094584147,
-    "Time_Train_Batch": 0.3982832908630371
-}
-
-Epoch 381 Memory Usage: 3276 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.42it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 382
-{
-    "Log_Likelihood": 20.565698287963865,
-    "Loss": -20.565698287963865,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1676.2353765591738,
-    "Time_Data_Loading": 0.02309348980585734,
-    "Time_Epoch": 0.4565107305844625,
-    "Time_Log_Info": 0.010202515125274658,
-    "Time_Process_Batch": 0.02216786543528239,
-    "Time_Train_Batch": 0.3980197469393412
-}
-
-Epoch 382 Memory Usage: 3277 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 383
-{
-    "Log_Likelihood": 20.57488567352295,
-    "Loss": -20.57488567352295,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1650.1722493584227,
-    "Time_Data_Loading": 0.023129550615946452,
-    "Time_Epoch": 0.45654225746790567,
-    "Time_Log_Info": 0.010213299592336019,
-    "Time_Process_Batch": 0.022167197863260903,
-    "Time_Train_Batch": 0.39804084300994874
-}
-
-Epoch 383 Memory Usage: 3277 MB
-
-
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 50%|#####     | 251/500 [00:13<00:13, 18.51it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.27it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 384
-{
-    "Log_Likelihood": 20.62755181121826,
-    "Loss": -20.62755181121826,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1731.5227101560915,
-    "Time_Data_Loading": 0.022827951113382976,
-    "Time_Epoch": 0.45615495840708414,
-    "Time_Log_Info": 0.010213184356689452,
-    "Time_Process_Batch": 0.022069708506266276,
-    "Time_Train_Batch": 0.39793320894241335
-}
-
-Epoch 384 Memory Usage: 3277 MB
-
-
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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 385
-{
-    "Log_Likelihood": 20.586764347076414,
-    "Loss": -20.586764347076414,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1764.6867943971204,
-    "Time_Data_Loading": 0.0229510227839152,
-    "Time_Epoch": 0.45693909327189125,
-    "Time_Log_Info": 0.010213224093119304,
-    "Time_Process_Batch": 0.02223844130833944,
-    "Time_Train_Batch": 0.39815402825673424
-}
-
-Epoch 385 Memory Usage: 3278 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.23it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 386
-{
-    "Log_Likelihood": 20.596213306427003,
-    "Loss": -20.596213306427003,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1737.1746614679448,
-    "Time_Data_Loading": 0.02272293170293172,
-    "Time_Epoch": 0.4571393688519796,
-    "Time_Log_Info": 0.01021041472752889,
-    "Time_Process_Batch": 0.022488784790039063,
-    "Time_Train_Batch": 0.39807676076889037
-}
-
-Epoch 386 Memory Usage: 3279 MB
-
-
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 88%|########8 | 441/500 [00:24<00:03, 18.63it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.59it/s]
 89%|########9 | 445/500 [00:24<00:02, 18.63it/s]
 89%|########9 | 447/500 [00:24<00:02, 18.42it/s]
 90%|########9 | 449/500 [00:24<00:02, 18.51it/s]
 90%|######### | 451/500 [00:24<00:02, 18.55it/s]
 91%|######### | 453/500 [00:24<00:02, 18.62it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.58it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.60it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.68it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.63it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.56it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.34it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.41it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.43it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.42it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.25it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.45it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.32it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.39it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.49it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.47it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.44it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.31it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.41it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.46it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.42it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.41it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.35it/s]
100%|#########9| 499/500 [00:27<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 387
-{
-    "Log_Likelihood": 20.602762168884276,
-    "Loss": -20.602762168884276,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1556.7038700524915,
-    "Time_Data_Loading": 0.022983431816101074,
-    "Time_Epoch": 0.45709798733393353,
-    "Time_Log_Info": 0.010228200753529867,
-    "Time_Process_Batch": 0.02232375939687093,
-    "Time_Train_Batch": 0.398354709148407
-}
-
-Epoch 387 Memory Usage: 3279 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:51,  4.47it/s]
  1%|          | 3/500 [00:00<00:48, 10.23it/s]
  1%|1         | 5/500 [00:00<00:37, 13.31it/s]
  1%|1         | 7/500 [00:00<00:32, 15.22it/s]
  2%|1         | 9/500 [00:00<00:29, 16.40it/s]
  2%|2         | 11/500 [00:00<00:28, 17.25it/s]
  3%|2         | 13/500 [00:00<00:27, 17.67it/s]
  3%|3         | 15/500 [00:00<00:26, 17.97it/s]
  3%|3         | 17/500 [00:01<00:26, 18.19it/s]
  4%|3         | 19/500 [00:01<00:26, 18.39it/s]
  4%|4         | 21/500 [00:01<00:26, 18.37it/s]
  5%|4         | 23/500 [00:01<00:25, 18.61it/s]
  5%|5         | 25/500 [00:01<00:25, 18.61it/s]
  5%|5         | 27/500 [00:01<00:25, 18.80it/s]
  6%|5         | 29/500 [00:01<00:25, 18.55it/s]
  6%|6         | 31/500 [00:01<00:25, 18.76it/s]
  7%|6         | 33/500 [00:01<00:25, 18.47it/s]
  7%|7         | 35/500 [00:02<00:24, 18.69it/s]
  7%|7         | 37/500 [00:02<00:24, 18.66it/s]
  8%|7         | 39/500 [00:02<00:24, 18.70it/s]
  8%|8         | 41/500 [00:02<00:24, 18.65it/s]
  9%|8         | 43/500 [00:02<00:24, 18.44it/s]
  9%|9         | 45/500 [00:02<00:24, 18.63it/s]
  9%|9         | 47/500 [00:02<00:24, 18.63it/s]
 10%|9         | 49/500 [00:02<00:24, 18.66it/s]
 10%|#         | 51/500 [00:02<00:24, 18.56it/s]
 11%|#         | 53/500 [00:03<00:23, 18.77it/s]
 11%|#1        | 55/500 [00:03<00:23, 18.62it/s]
 11%|#1        | 57/500 [00:03<00:23, 18.74it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.72it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.71it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.74it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.69it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.71it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.64it/s]
 14%|#4        | 71/500 [00:03<00:23, 18.58it/s]
 15%|#4        | 73/500 [00:04<00:22, 18.65it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.64it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.71it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.67it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.75it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.66it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.71it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.76it/s]
 18%|#7        | 89/500 [00:04<00:21, 18.69it/s]
 18%|#8        | 91/500 [00:05<00:21, 18.74it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.66it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.59it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.54it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.60it/s]
 20%|##        | 101/500 [00:05<00:21, 18.60it/s]
 21%|##        | 103/500 [00:05<00:21, 18.57it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.54it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.50it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.49it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.56it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.62it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.64it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.63it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.61it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.56it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.48it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.55it/s]
 25%|##5       | 127/500 [00:06<00:20, 18.16it/s]
 26%|##5       | 129/500 [00:07<00:20, 18.31it/s]
 26%|##6       | 131/500 [00:07<00:20, 18.24it/s]
 27%|##6       | 133/500 [00:07<00:19, 18.35it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.32it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.38it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.41it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.26it/s]
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 29%|##9       | 145/500 [00:07<00:19, 18.37it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.46it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.49it/s]
 30%|###       | 151/500 [00:08<00:18, 18.51it/s]
 31%|###       | 153/500 [00:08<00:18, 18.56it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.58it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.58it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.57it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.58it/s]
 33%|###2      | 163/500 [00:08<00:18, 18.55it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.27it/s]
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 34%|###3      | 169/500 [00:09<00:17, 18.48it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.49it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.61it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.56it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.69it/s]
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 37%|###6      | 183/500 [00:10<00:17, 18.47it/s]
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 38%|###8      | 191/500 [00:10<00:16, 18.42it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.33it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.32it/s]
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 49%|####8     | 243/500 [00:13<00:13, 18.59it/s]
 49%|####9     | 245/500 [00:13<00:13, 18.45it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.53it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.53it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.50it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.45it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.54it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.54it/s]
 52%|#####1    | 259/500 [00:14<00:12, 18.58it/s]
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 53%|#####2    | 263/500 [00:14<00:13, 18.19it/s]
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 54%|#####4    | 271/500 [00:14<00:12, 18.38it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.34it/s]
 55%|#####5    | 275/500 [00:14<00:12, 18.29it/s]
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 58%|#####7    | 289/500 [00:15<00:11, 18.47it/s]
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 59%|#####9    | 297/500 [00:16<00:10, 18.55it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.32it/s]
 60%|######    | 301/500 [00:16<00:10, 18.35it/s]
 61%|######    | 303/500 [00:16<00:10, 18.42it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.46it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.48it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.49it/s]
 62%|######2   | 311/500 [00:16<00:10, 18.22it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.36it/s]
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 67%|######7   | 337/500 [00:18<00:08, 18.23it/s]
 68%|######7   | 339/500 [00:18<00:08, 18.28it/s]
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 69%|######8   | 343/500 [00:18<00:08, 18.43it/s]
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 69%|######9   | 347/500 [00:18<00:08, 18.54it/s]
 70%|######9   | 349/500 [00:18<00:08, 18.57it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.50it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.60it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.55it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.62it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.54it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.61it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.56it/s]
 73%|#######3  | 365/500 [00:19<00:07, 18.62it/s]
 73%|#######3  | 367/500 [00:19<00:07, 18.69it/s]
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 77%|#######7  | 387/500 [00:21<00:06, 18.65it/s]
 78%|#######7  | 389/500 [00:21<00:05, 18.68it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.68it/s]
 81%|########  | 403/500 [00:21<00:05, 18.55it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.62it/s]
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 83%|########2 | 413/500 [00:22<00:04, 18.56it/s]
 83%|########2 | 415/500 [00:22<00:04, 18.62it/s]
 83%|########3 | 417/500 [00:22<00:04, 18.37it/s]
 84%|########3 | 419/500 [00:22<00:04, 18.52it/s]
 84%|########4 | 421/500 [00:22<00:04, 18.53it/s]
 85%|########4 | 423/500 [00:22<00:04, 18.58it/s]
 85%|########5 | 425/500 [00:23<00:04, 18.38it/s]
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 88%|########8 | 441/500 [00:23<00:03, 18.48it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.56it/s]
 89%|########9 | 445/500 [00:24<00:02, 18.60it/s]
 89%|########9 | 447/500 [00:24<00:02, 18.60it/s]
 90%|########9 | 449/500 [00:24<00:02, 18.64it/s]
 90%|######### | 451/500 [00:24<00:02, 18.62it/s]
 91%|######### | 453/500 [00:24<00:02, 18.64it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.57it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.58it/s]
 92%|#########1| 459/500 [00:24<00:02, 18.58it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.62it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.63it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.61it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.64it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.59it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.57it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.54it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.57it/s]
 95%|#########5| 477/500 [00:25<00:01, 18.53it/s]
 96%|#########5| 479/500 [00:25<00:01, 18.62it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.62it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.65it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.67it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.58it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.64it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.61it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.62it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.55it/s]
 99%|#########9| 497/500 [00:26<00:00, 18.56it/s]
100%|#########9| 499/500 [00:27<00:00, 18.65it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
-Train Epoch 388
-{
-    "Log_Likelihood": 20.61255632019043,
-    "Loss": -20.61255632019043,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1650.9780821628292,
-    "Time_Data_Loading": 0.02201077938079834,
-    "Time_Epoch": 0.45460848808288573,
-    "Time_Log_Info": 0.010201088587443034,
-    "Time_Process_Batch": 0.021703076362609864,
-    "Time_Train_Batch": 0.3976394494374593
-}
-
-Epoch 388 Memory Usage: 3279 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 389
-{
-    "Log_Likelihood": 20.5901212348938,
-    "Loss": -20.5901212348938,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1713.4431305382113,
-    "Time_Data_Loading": 0.022248252232869466,
-    "Time_Epoch": 0.45582010348637897,
-    "Time_Log_Info": 0.010221572717030843,
-    "Time_Process_Batch": 0.022293535868326823,
-    "Time_Train_Batch": 0.3979038596153259
-}
-
-Epoch 389 Memory Usage: 3279 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 390
-{
-    "Log_Likelihood": 20.602282489776613,
-    "Loss": -20.602282489776613,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1765.3955519634685,
-    "Time_Data_Loading": 0.02363107999165853,
-    "Time_Epoch": 0.4573169112205505,
-    "Time_Log_Info": 0.010215413570404053,
-    "Time_Process_Batch": 0.022140240669250487,
-    "Time_Train_Batch": 0.3982463280359904
-}
-
-Epoch 390 Memory Usage: 3279 MB
-
-
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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 391
-{
-    "Log_Likelihood": 20.61632408905029,
-    "Loss": -20.61632408905029,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1666.3682415799299,
-    "Time_Data_Loading": 0.023785324891408284,
-    "Time_Epoch": 0.45710848172505697,
-    "Time_Log_Info": 0.01019755999247233,
-    "Time_Process_Batch": 0.02220869859059652,
-    "Time_Train_Batch": 0.3978123943010966
-}
-
-Epoch 391 Memory Usage: 3279 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 392
-{
-    "Log_Likelihood": 20.619742752075194,
-    "Loss": -20.619742752075194,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1668.3537709002392,
-    "Time_Data_Loading": 0.022543640931447347,
-    "Time_Epoch": 0.45637229283650715,
-    "Time_Log_Info": 0.010222760836283366,
-    "Time_Process_Batch": 0.021977452437082927,
-    "Time_Train_Batch": 0.3983942230542501
-}
-
-Epoch 392 Memory Usage: 3280 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 393
-{
-    "Log_Likelihood": 20.607097927093506,
-    "Loss": -20.607097927093506,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1646.186544785216,
-    "Time_Data_Loading": 0.022733290990193684,
-    "Time_Epoch": 0.45634107987085976,
-    "Time_Log_Info": 0.01020034154256185,
-    "Time_Process_Batch": 0.02211150328318278,
-    "Time_Train_Batch": 0.3981378515561422
-}
-
-Epoch 393 Memory Usage: 3280 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 394
-{
-    "Log_Likelihood": 20.607612758636474,
-    "Loss": -20.607612758636474,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1679.9797160058808,
-    "Time_Data_Loading": 0.022899440924326577,
-    "Time_Epoch": 0.4565569599469503,
-    "Time_Log_Info": 0.010217801729838053,
-    "Time_Process_Batch": 0.022452664375305176,
-    "Time_Train_Batch": 0.397860844930013
-}
-
-Epoch 394 Memory Usage: 3281 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.23it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 395
-{
-    "Log_Likelihood": 20.567822685241698,
-    "Loss": -20.567822685241698,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1625.9501636453876,
-    "Time_Data_Loading": 0.022338541348775227,
-    "Time_Epoch": 0.4558156410853068,
-    "Time_Log_Info": 0.01019612153371175,
-    "Time_Process_Batch": 0.022016680240631102,
-    "Time_Train_Batch": 0.39821229378382367
-}
-
-Epoch 395 Memory Usage: 3281 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 396
-{
-    "Log_Likelihood": 20.60015657043457,
-    "Loss": -20.60015657043457,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1679.4291743952945,
-    "Time_Data_Loading": 0.022771310806274415,
-    "Time_Epoch": 0.456248931090037,
-    "Time_Log_Info": 0.01020200252532959,
-    "Time_Process_Batch": 0.02220670779546102,
-    "Time_Train_Batch": 0.3979247808456421
-}
-
-Epoch 396 Memory Usage: 3282 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 397
-{
-    "Log_Likelihood": 20.639589672088622,
-    "Loss": -20.639589672088622,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1720.2871064676108,
-    "Time_Data_Loading": 0.02274661064147949,
-    "Time_Epoch": 0.4563686728477478,
-    "Time_Log_Info": 0.010178991158803304,
-    "Time_Process_Batch": 0.022202825546264647,
-    "Time_Train_Batch": 0.39799050490061444
-}
-
-Epoch 397 Memory Usage: 3282 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.27it/s]
-Train Epoch 398
-{
-    "Log_Likelihood": 20.624278675079346,
-    "Loss": -20.624278675079346,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1772.0195999839405,
-    "Time_Data_Loading": 0.024219600359598796,
-    "Time_Epoch": 0.458700954914093,
-    "Time_Log_Info": 0.01019803285598755,
-    "Time_Process_Batch": 0.02285788853963216,
-    "Time_Train_Batch": 0.398293415705363
-}
-
-Epoch 398 Memory Usage: 3283 MB
-
-
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 14%|#3        | 69/500 [00:03<00:23, 18.52it/s]
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 24%|##3       | 119/500 [00:06<00:20, 18.36it/s]
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 33%|###2      | 163/500 [00:08<00:17, 18.75it/s]
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 35%|###4      | 173/500 [00:09<00:17, 18.56it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.37it/s]
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 51%|#####1    | 255/500 [00:13<00:13, 18.41it/s]
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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 399
-{
-    "Log_Likelihood": 20.627833232879638,
-    "Loss": -20.627833232879638,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1649.2185780622829,
-    "Time_Data_Loading": 0.022322432200113932,
-    "Time_Epoch": 0.45584344466527305,
-    "Time_Log_Info": 0.010207966963450114,
-    "Time_Process_Batch": 0.022257904211680096,
-    "Time_Train_Batch": 0.3978068153063456
-}
-
-Epoch 399 Memory Usage: 3283 MB
-
-
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  0%|          | 1/500 [00:00<02:09,  3.85it/s]
  1%|          | 3/500 [00:00<00:53,  9.34it/s]
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-Train Epoch 400
-{
-    "Log_Likelihood": 20.626399436950685,
-    "Loss": -20.626399436950685,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1747.2698161532512,
-    "Time_Data_Loading": 0.022922627131144204,
-    "Time_Epoch": 0.4564114411671956,
-    "Time_Log_Info": 0.010229432582855224,
-    "Time_Process_Batch": 0.022272535165150962,
-    "Time_Train_Batch": 0.3979345122973124
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_400.pth
-
-Epoch 400 Memory Usage: 3283 MB
-
-
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 50%|#####     | 251/500 [00:13<00:13, 18.54it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.48it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.34it/s]
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 63%|######3   | 315/500 [00:17<00:10, 18.49it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.33it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.58it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.58it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.49it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.54it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.52it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.60it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.57it/s]
 81%|########  | 403/500 [00:21<00:05, 18.63it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.64it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.66it/s]
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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 401
-{
-    "Log_Likelihood": 20.63227215194702,
-    "Loss": -20.63227215194702,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1771.2148455704055,
-    "Time_Data_Loading": 0.022217202186584472,
-    "Time_Epoch": 0.45513439973195396,
-    "Time_Log_Info": 0.010208574930826823,
-    "Time_Process_Batch": 0.02189395030339559,
-    "Time_Train_Batch": 0.39774161179860434
-}
-
-Epoch 401 Memory Usage: 3283 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:40,  3.12it/s]
  1%|          | 3/500 [00:00<01:00,  8.22it/s]
  1%|1         | 5/500 [00:00<00:42, 11.52it/s]
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  2%|1         | 9/500 [00:00<00:32, 15.19it/s]
  2%|2         | 11/500 [00:00<00:29, 16.34it/s]
  3%|2         | 13/500 [00:00<00:28, 17.00it/s]
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 30%|###       | 151/500 [00:08<00:19, 18.32it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.35it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.12it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.21it/s]
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 40%|####      | 201/500 [00:11<00:16, 18.55it/s]
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 41%|####1     | 205/500 [00:11<00:15, 18.51it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.47it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.54it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.58it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.56it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.62it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.57it/s]
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 81%|########  | 403/500 [00:22<00:05, 18.68it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.54it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.48it/s]
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 92%|#########1| 459/500 [00:25<00:02, 18.57it/s]
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 93%|#########2| 463/500 [00:25<00:02, 18.16it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.15it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.32it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.16it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.31it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.40it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.49it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.58it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.59it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.54it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.49it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.64it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.68it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.61it/s]
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 99%|#########9| 497/500 [00:27<00:00, 18.74it/s]
100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 402
-{
-    "Log_Likelihood": 20.599310417175293,
-    "Loss": -20.599310417175293,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1608.3660780979985,
-    "Time_Data_Loading": 0.0235566775004069,
-    "Time_Epoch": 0.4570041378339132,
-    "Time_Log_Info": 0.010214412212371826,
-    "Time_Process_Batch": 0.02188644806543986,
-    "Time_Train_Batch": 0.3982412616411845
-}
-
-Epoch 402 Memory Usage: 3283 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:00,  4.14it/s]
  1%|          | 3/500 [00:00<00:50,  9.80it/s]
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  3%|2         | 13/500 [00:00<00:27, 17.46it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.37it/s]
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 51%|#####1    | 255/500 [00:13<00:13, 18.48it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.21it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 403
-{
-    "Log_Likelihood": 20.643474094390868,
-    "Loss": -20.643474094390868,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1692.668289472668,
-    "Time_Data_Loading": 0.022344585259755453,
-    "Time_Epoch": 0.4561507821083069,
-    "Time_Log_Info": 0.010172684987386068,
-    "Time_Process_Batch": 0.022202245394388833,
-    "Time_Train_Batch": 0.3982869625091553
-}
-
-Epoch 403 Memory Usage: 3284 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:02,  4.07it/s]
  1%|          | 3/500 [00:00<00:51,  9.69it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.49it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 404
-{
-    "Log_Likelihood": 20.642685375213624,
-    "Loss": -20.642685375213624,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1770.6723068654,
-    "Time_Data_Loading": 0.02272235949834188,
-    "Time_Epoch": 0.4567241748174032,
-    "Time_Log_Info": 0.010204819838205974,
-    "Time_Process_Batch": 0.02232480843861898,
-    "Time_Train_Batch": 0.39811644156773884
-}
-
-Epoch 404 Memory Usage: 3284 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 405
-{
-    "Log_Likelihood": 20.66951371383667,
-    "Loss": -20.66951371383667,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1751.3909405296356,
-    "Time_Data_Loading": 0.022808257738749185,
-    "Time_Epoch": 0.45695152680079143,
-    "Time_Log_Info": 0.01019534667332967,
-    "Time_Process_Batch": 0.022545949618021647,
-    "Time_Train_Batch": 0.3982594648996989
-}
-
-Epoch 405 Memory Usage: 3284 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:07,  3.92it/s]
  1%|          | 3/500 [00:00<00:52,  9.51it/s]
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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 406
-{
-    "Log_Likelihood": 20.68762610244751,
-    "Loss": -20.68762610244751,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1820.6324408676364,
-    "Time_Data_Loading": 0.023164093494415283,
-    "Time_Epoch": 0.45696909427642823,
-    "Time_Log_Info": 0.010222339630126953,
-    "Time_Process_Batch": 0.022229421138763427,
-    "Time_Train_Batch": 0.3982677062352498
-}
-
-Epoch 406 Memory Usage: 3285 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 407
-{
-    "Log_Likelihood": 20.644023258209227,
-    "Loss": -20.644023258209227,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1723.4667553211918,
-    "Time_Data_Loading": 0.024037738641103108,
-    "Time_Epoch": 0.4576957662900289,
-    "Time_Log_Info": 0.010235559940338135,
-    "Time_Process_Batch": 0.02211224635442098,
-    "Time_Train_Batch": 0.3982072432835897
-}
-
-Epoch 407 Memory Usage: 3285 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 408
-{
-    "Log_Likelihood": 20.64596305847168,
-    "Loss": -20.64596305847168,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1707.0482718213511,
-    "Time_Data_Loading": 0.023435501257578532,
-    "Time_Epoch": 0.4568215092023214,
-    "Time_Log_Info": 0.010226611296335857,
-    "Time_Process_Batch": 0.022059289614359538,
-    "Time_Train_Batch": 0.3980424125989278
-}
-
-Epoch 408 Memory Usage: 3286 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 409
-{
-    "Log_Likelihood": 20.680853408813476,
-    "Loss": -20.680853408813476,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1895.8325221608047,
-    "Time_Data_Loading": 0.022880744934082032,
-    "Time_Epoch": 0.45617542664210003,
-    "Time_Log_Info": 0.010227684179941814,
-    "Time_Process_Batch": 0.02205578088760376,
-    "Time_Train_Batch": 0.39783596197764076
-}
-
-Epoch 409 Memory Usage: 3286 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.62it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
-Train Epoch 410
-{
-    "Log_Likelihood": 20.640678844451905,
-    "Loss": -20.640678844451905,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1698.4910419734124,
-    "Time_Data_Loading": 0.021790401140848795,
-    "Time_Epoch": 0.4552510102589925,
-    "Time_Log_Info": 0.010231479008992513,
-    "Time_Process_Batch": 0.021976701418558755,
-    "Time_Train_Batch": 0.39814393122990926
-}
-
-Epoch 410 Memory Usage: 3286 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.68it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 411
-{
-    "Log_Likelihood": 20.661293407440187,
-    "Loss": -20.661293407440187,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1789.2213159601263,
-    "Time_Data_Loading": 0.02319035530090332,
-    "Time_Epoch": 0.4562562982241313,
-    "Time_Log_Info": 0.010197325547536214,
-    "Time_Process_Batch": 0.021932764848073324,
-    "Time_Train_Batch": 0.39778926769892375
-}
-
-Epoch 411 Memory Usage: 3286 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 412
-{
-    "Log_Likelihood": 20.65843645477295,
-    "Loss": -20.65843645477295,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1771.8663884913485,
-    "Time_Data_Loading": 0.023686297734578452,
-    "Time_Epoch": 0.457469375928243,
-    "Time_Log_Info": 0.010186282793680827,
-    "Time_Process_Batch": 0.022100067138671874,
-    "Time_Train_Batch": 0.39806873401006065
-}
-
-Epoch 412 Memory Usage: 3287 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 413
-{
-    "Log_Likelihood": 20.687085945129393,
-    "Loss": -20.687085945129393,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1730.1952107206798,
-    "Time_Data_Loading": 0.023309675852457683,
-    "Time_Epoch": 0.4570409258206685,
-    "Time_Log_Info": 0.010193618138631184,
-    "Time_Process_Batch": 0.022453129291534424,
-    "Time_Train_Batch": 0.39773274660110475
-}
-
-Epoch 413 Memory Usage: 3287 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
-Train Epoch 414
-{
-    "Log_Likelihood": 20.655524585723878,
-    "Loss": -20.655524585723878,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1725.0733823207677,
-    "Time_Data_Loading": 0.022847370306650797,
-    "Time_Epoch": 0.4551889061927795,
-    "Time_Log_Info": 0.01019832690556844,
-    "Time_Process_Batch": 0.021919699509938557,
-    "Time_Train_Batch": 0.39713552792867024
-}
-
-Epoch 414 Memory Usage: 3287 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 415
-{
-    "Log_Likelihood": 20.64704848098755,
-    "Loss": -20.64704848098755,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1678.3413956810075,
-    "Time_Data_Loading": 0.022901602586110435,
-    "Time_Epoch": 0.45647359689076744,
-    "Time_Log_Info": 0.010221421718597412,
-    "Time_Process_Batch": 0.022230454285939536,
-    "Time_Train_Batch": 0.39800089597702026
-}
-
-Epoch 415 Memory Usage: 3289 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 416
-{
-    "Log_Likelihood": 20.657665374755858,
-    "Loss": -20.657665374755858,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1671.0594016704913,
-    "Time_Data_Loading": 0.0229584534962972,
-    "Time_Epoch": 0.4568539341290792,
-    "Time_Log_Info": 0.010212806860605876,
-    "Time_Process_Batch": 0.022212000687917073,
-    "Time_Train_Batch": 0.39835326274236044
-}
-
-Epoch 416 Memory Usage: 3289 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 417
-{
-    "Log_Likelihood": 20.682450706481934,
-    "Loss": -20.682450706481934,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1684.0530434719858,
-    "Time_Data_Loading": 0.02303905487060547,
-    "Time_Epoch": 0.4563542604446411,
-    "Time_Log_Info": 0.010191007455190023,
-    "Time_Process_Batch": 0.02214204470316569,
-    "Time_Train_Batch": 0.39790366888046264
-}
-
-Epoch 417 Memory Usage: 3289 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 418
-{
-    "Log_Likelihood": 20.670062175750733,
-    "Loss": -20.670062175750733,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1804.793386757482,
-    "Time_Data_Loading": 0.0232531468073527,
-    "Time_Epoch": 0.45683295329411827,
-    "Time_Log_Info": 0.01019299825032552,
-    "Time_Process_Batch": 0.022360579172770182,
-    "Time_Train_Batch": 0.39794139862060546
-}
-
-Epoch 418 Memory Usage: 3289 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 419
-{
-    "Log_Likelihood": 20.680610664367677,
-    "Loss": -20.680610664367677,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1639.1809979652116,
-    "Time_Data_Loading": 0.022902230421702068,
-    "Time_Epoch": 0.4568007469177246,
-    "Time_Log_Info": 0.010177826881408692,
-    "Time_Process_Batch": 0.022115846474965412,
-    "Time_Train_Batch": 0.3984083374341329
-}
-
-Epoch 419 Memory Usage: 3289 MB
-
-
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-Train Epoch 420
-{
-    "Log_Likelihood": 20.68827431488037,
-    "Loss": -20.68827431488037,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1785.8715168959,
-    "Time_Data_Loading": 0.021940863132476805,
-    "Time_Epoch": 0.45477750698725383,
-    "Time_Log_Info": 0.010220738252003987,
-    "Time_Process_Batch": 0.021974364916483562,
-    "Time_Train_Batch": 0.39757524728775023
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_420.pth
-
-Epoch 420 Memory Usage: 3289 MB
-
-
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 70%|#######   | 351/500 [00:19<00:08, 18.51it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.30it/s]
 71%|#######1  | 355/500 [00:19<00:08, 18.10it/s]
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 72%|#######1  | 359/500 [00:19<00:07, 18.27it/s]
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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 421
-{
-    "Log_Likelihood": 20.675599609375,
-    "Loss": -20.675599609375,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1782.9412913705987,
-    "Time_Data_Loading": 0.02301797866821289,
-    "Time_Epoch": 0.4565667510032654,
-    "Time_Log_Info": 0.010184053579966228,
-    "Time_Process_Batch": 0.022140411535898845,
-    "Time_Train_Batch": 0.3980932593345642
-}
-
-Epoch 421 Memory Usage: 3289 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:10,  3.83it/s]
  1%|          | 3/500 [00:00<00:52,  9.42it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 422
-{
-    "Log_Likelihood": 20.7098119392395,
-    "Loss": -20.7098119392395,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1674.989804564645,
-    "Time_Data_Loading": 0.022770261764526366,
-    "Time_Epoch": 0.45611046155293783,
-    "Time_Log_Info": 0.010202558835347493,
-    "Time_Process_Batch": 0.022098859151204426,
-    "Time_Train_Batch": 0.3978009343147278
-}
-
-Epoch 422 Memory Usage: 3290 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:13,  3.73it/s]
  1%|          | 3/500 [00:00<00:53,  9.22it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.35it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 423
-{
-    "Log_Likelihood": 20.716638427734374,
-    "Loss": -20.716638427734374,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1824.4821818427695,
-    "Time_Data_Loading": 0.023430856068929036,
-    "Time_Epoch": 0.4577071229616801,
-    "Time_Log_Info": 0.010158236821492512,
-    "Time_Process_Batch": 0.022434651851654053,
-    "Time_Train_Batch": 0.3985610683759054
-}
-
-Epoch 423 Memory Usage: 3291 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 424
-{
-    "Log_Likelihood": 20.683931213378905,
-    "Loss": -20.683931213378905,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1902.3175422610234,
-    "Time_Data_Loading": 0.024198679129282634,
-    "Time_Epoch": 0.45781556367874143,
-    "Time_Log_Info": 0.010205026467641194,
-    "Time_Process_Batch": 0.02240594228108724,
-    "Time_Train_Batch": 0.3978612263997396
-}
-
-Epoch 424 Memory Usage: 3291 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.35it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 425
-{
-    "Log_Likelihood": 20.719438400268555,
-    "Loss": -20.719438400268555,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1816.7687240755884,
-    "Time_Data_Loading": 0.023492840925852458,
-    "Time_Epoch": 0.45693865219751995,
-    "Time_Log_Info": 0.010192676385243734,
-    "Time_Process_Batch": 0.022096772988637287,
-    "Time_Train_Batch": 0.3980045477549235
-}
-
-Epoch 425 Memory Usage: 3292 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 426
-{
-    "Log_Likelihood": 20.720126178741456,
-    "Loss": -20.720126178741456,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1730.661516288798,
-    "Time_Data_Loading": 0.023071157932281493,
-    "Time_Epoch": 0.45670881668726604,
-    "Time_Log_Info": 0.010207502047220866,
-    "Time_Process_Batch": 0.02222588857014974,
-    "Time_Train_Batch": 0.3978988806406657
-}
-
-Epoch 426 Memory Usage: 3292 MB
-
-
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  1%|1         | 7/500 [00:00<00:34, 14.13it/s]
  2%|1         | 9/500 [00:00<00:31, 15.51it/s]
  2%|2         | 11/500 [00:00<00:29, 16.61it/s]
  3%|2         | 13/500 [00:00<00:29, 16.30it/s]
  3%|3         | 15/500 [00:01<00:28, 16.78it/s]
  3%|3         | 17/500 [00:01<00:28, 17.20it/s]
  4%|3         | 19/500 [00:01<00:27, 17.65it/s]
  4%|4         | 21/500 [00:01<00:26, 17.95it/s]
  5%|4         | 23/500 [00:01<00:26, 17.95it/s]
  5%|5         | 25/500 [00:01<00:26, 18.17it/s]
  5%|5         | 27/500 [00:01<00:25, 18.29it/s]
  6%|5         | 29/500 [00:01<00:25, 18.40it/s]
  6%|6         | 31/500 [00:01<00:25, 18.49it/s]
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 10%|9         | 49/500 [00:02<00:24, 18.57it/s]
 10%|#         | 51/500 [00:02<00:24, 18.46it/s]
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 11%|#1        | 55/500 [00:03<00:24, 18.39it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.59it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.57it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.40it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.43it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.43it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.50it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.50it/s]
 15%|#5        | 75/500 [00:04<00:23, 18.47it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.48it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.52it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.41it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.47it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.32it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.39it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.48it/s]
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 20%|#9        | 99/500 [00:05<00:21, 18.51it/s]
 20%|##        | 101/500 [00:05<00:21, 18.47it/s]
 21%|##        | 103/500 [00:05<00:21, 18.41it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.39it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.40it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.42it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.46it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.56it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.50it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.55it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.46it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.65it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.52it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.57it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.39it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.52it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.41it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.27it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.37it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.49it/s]
 30%|###       | 151/500 [00:08<00:18, 18.52it/s]
 31%|###       | 153/500 [00:08<00:18, 18.64it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.63it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.67it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.55it/s]
 33%|###3      | 167/500 [00:09<00:18, 18.42it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.53it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.62it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.55it/s]
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 36%|###6      | 181/500 [00:10<00:17, 18.37it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.02it/s]
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 38%|###7      | 189/500 [00:10<00:16, 18.45it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.29it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.30it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.33it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.45it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.49it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.36it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.36it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.57it/s]
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 92%|#########1| 459/500 [00:25<00:02, 18.48it/s]
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 93%|#########3| 467/500 [00:25<00:01, 18.61it/s]
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 95%|#########5| 477/500 [00:26<00:01, 18.40it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.54it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.52it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.49it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.61it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.51it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.54it/s]
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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 427
-{
-    "Log_Likelihood": 20.709863731384278,
-    "Loss": -20.709863731384278,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1731.6248404981086,
-    "Time_Data_Loading": 0.02380580504735311,
-    "Time_Epoch": 0.4577078104019165,
-    "Time_Log_Info": 0.010174461205800374,
-    "Time_Process_Batch": 0.022180100282033283,
-    "Time_Train_Batch": 0.39824146827061974
-}
-
-Epoch 427 Memory Usage: 3292 MB
-
-
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  0%|          | 1/500 [00:00<02:05,  3.98it/s]
  1%|          | 3/500 [00:00<00:51,  9.58it/s]
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 14%|#3        | 69/500 [00:03<00:23, 18.51it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.40it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.42it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.56it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.36it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.49it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.44it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.48it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.48it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 428
-{
-    "Log_Likelihood": 20.725800132751466,
-    "Loss": -20.725800132751466,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1774.025095797948,
-    "Time_Data_Loading": 0.02360544204711914,
-    "Time_Epoch": 0.4577219804128011,
-    "Time_Log_Info": 0.010189390182495118,
-    "Time_Process_Batch": 0.022493489583333335,
-    "Time_Train_Batch": 0.39801756938298544
-}
-
-Epoch 428 Memory Usage: 3292 MB
-
-
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  0%|          | 1/500 [00:00<02:03,  4.04it/s]
  1%|          | 3/500 [00:00<00:51,  9.67it/s]
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 23%|##3       | 117/500 [00:06<00:20, 18.59it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.60it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 429
-{
-    "Log_Likelihood": 20.714500812530517,
-    "Loss": -20.714500812530517,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1806.4602155027133,
-    "Time_Data_Loading": 0.023337507247924806,
-    "Time_Epoch": 0.45671634674072265,
-    "Time_Log_Info": 0.010174651940663656,
-    "Time_Process_Batch": 0.022280939420064292,
-    "Time_Train_Batch": 0.3979007363319397
-}
-
-Epoch 429 Memory Usage: 3292 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 430
-{
-    "Log_Likelihood": 20.691108486175537,
-    "Loss": -20.691108486175537,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1686.2652127706303,
-    "Time_Data_Loading": 0.022730966409047444,
-    "Time_Epoch": 0.45616645415623985,
-    "Time_Log_Info": 0.010206758975982666,
-    "Time_Process_Batch": 0.02236593166987101,
-    "Time_Train_Batch": 0.3977847695350647
-}
-
-Epoch 430 Memory Usage: 3293 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.24it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 431
-{
-    "Log_Likelihood": 20.746369388580323,
-    "Loss": -20.746369388580323,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1808.416890020333,
-    "Time_Data_Loading": 0.02292013963063558,
-    "Time_Epoch": 0.4565269112586975,
-    "Time_Log_Info": 0.010198410352071125,
-    "Time_Process_Batch": 0.022340973218282063,
-    "Time_Train_Batch": 0.3980163415273031
-}
-
-Epoch 431 Memory Usage: 3293 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 432
-{
-    "Log_Likelihood": 20.751048236846923,
-    "Loss": -20.751048236846923,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1911.9706473882086,
-    "Time_Data_Loading": 0.022778566678365073,
-    "Time_Epoch": 0.45614042282104494,
-    "Time_Log_Info": 0.010218711694081624,
-    "Time_Process_Batch": 0.022221032778422037,
-    "Time_Train_Batch": 0.39785229762395224
-}
-
-Epoch 432 Memory Usage: 3293 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 433
-{
-    "Log_Likelihood": 20.73840245437622,
-    "Loss": -20.73840245437622,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1780.26832730014,
-    "Time_Data_Loading": 0.022641710440317788,
-    "Time_Epoch": 0.45560912291208905,
-    "Time_Log_Info": 0.010202884674072266,
-    "Time_Process_Batch": 0.02234387000401815,
-    "Time_Train_Batch": 0.39733893076578775
-}
-
-Epoch 433 Memory Usage: 3293 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 434
-{
-    "Log_Likelihood": 20.72911806869507,
-    "Loss": -20.72911806869507,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1676.5474767673725,
-    "Time_Data_Loading": 0.023969916502634685,
-    "Time_Epoch": 0.45800244410832724,
-    "Time_Log_Info": 0.010181001822153727,
-    "Time_Process_Batch": 0.02245090405146281,
-    "Time_Train_Batch": 0.3983311374982198
-}
-
-Epoch 434 Memory Usage: 3294 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 435
-{
-    "Log_Likelihood": 20.690620372772216,
-    "Loss": -20.690620372772216,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1673.0847786583563,
-    "Time_Data_Loading": 0.024459826946258544,
-    "Time_Epoch": 0.458093257745107,
-    "Time_Log_Info": 0.010222184658050536,
-    "Time_Process_Batch": 0.022381333510080974,
-    "Time_Train_Batch": 0.3978812654813131
-}
-
-Epoch 435 Memory Usage: 3294 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 436
-{
-    "Log_Likelihood": 20.746885066986085,
-    "Loss": -20.746885066986085,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1850.4813675411926,
-    "Time_Data_Loading": 0.022787141799926757,
-    "Time_Epoch": 0.45676695108413695,
-    "Time_Log_Info": 0.010202229022979736,
-    "Time_Process_Batch": 0.02245431343714396,
-    "Time_Train_Batch": 0.39800797700881957
-}
-
-Epoch 436 Memory Usage: 3295 MB
-
-
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 33%|###2      | 163/500 [00:09<00:18, 18.46it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.58it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.57it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.56it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.61it/s]
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 96%|#########6| 481/500 [00:26<00:01, 18.54it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.45it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 437
-{
-    "Log_Likelihood": 20.73339675140381,
-    "Loss": -20.73339675140381,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1936.2044244239137,
-    "Time_Data_Loading": 0.023090954621632895,
-    "Time_Epoch": 0.456243896484375,
-    "Time_Log_Info": 0.010208173592885336,
-    "Time_Process_Batch": 0.022059988975524903,
-    "Time_Train_Batch": 0.3977721889813741
-}
-
-Epoch 437 Memory Usage: 3295 MB
-
-
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  0%|          | 1/500 [00:00<02:07,  3.93it/s]
  1%|          | 3/500 [00:00<00:52,  9.46it/s]
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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 438
-{
-    "Log_Likelihood": 20.757860816955567,
-    "Loss": -20.757860816955567,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1763.2355471788683,
-    "Time_Data_Loading": 0.02262797753016154,
-    "Time_Epoch": 0.4562737464904785,
-    "Time_Log_Info": 0.010207442442576091,
-    "Time_Process_Batch": 0.022299555937449138,
-    "Time_Train_Batch": 0.3978007634480794
-}
-
-Epoch 438 Memory Usage: 3295 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 439
-{
-    "Log_Likelihood": 20.737836151123048,
-    "Loss": -20.737836151123048,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1847.416987458001,
-    "Time_Data_Loading": 0.02345783313115438,
-    "Time_Epoch": 0.45708439747492474,
-    "Time_Log_Info": 0.010220034917195638,
-    "Time_Process_Batch": 0.022427614529927573,
-    "Time_Train_Batch": 0.39770507415135703
-}
-
-Epoch 439 Memory Usage: 3296 MB
-
-
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-Train Epoch 440
-{
-    "Log_Likelihood": 20.745121593475343,
-    "Loss": -20.745121593475343,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1872.573588292139,
-    "Time_Data_Loading": 0.022862339019775392,
-    "Time_Epoch": 0.4563620766003927,
-    "Time_Log_Info": 0.010227859020233154,
-    "Time_Process_Batch": 0.022358946005503335,
-    "Time_Train_Batch": 0.39781802892684937
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_440.pth
-
-Epoch 440 Memory Usage: 3297 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 441
-{
-    "Log_Likelihood": 20.747102169036864,
-    "Loss": -20.747102169036864,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1722.284972965443,
-    "Time_Data_Loading": 0.022934484481811523,
-    "Time_Epoch": 0.456631334622701,
-    "Time_Log_Info": 0.01023176113764445,
-    "Time_Process_Batch": 0.022230060895284016,
-    "Time_Train_Batch": 0.3982322533925374
-}
-
-Epoch 441 Memory Usage: 3296 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.29it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 442
-{
-    "Log_Likelihood": 20.736470893859863,
-    "Loss": -20.736470893859863,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1845.5409706127007,
-    "Time_Data_Loading": 0.022917417685190837,
-    "Time_Epoch": 0.45648942788441976,
-    "Time_Log_Info": 0.010210680961608886,
-    "Time_Process_Batch": 0.022115965684254963,
-    "Time_Train_Batch": 0.39806097745895386
-}
-
-Epoch 442 Memory Usage: 3296 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 443
-{
-    "Log_Likelihood": 20.75361629867554,
-    "Loss": -20.75361629867554,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1745.0875354805105,
-    "Time_Data_Loading": 0.023909282684326173,
-    "Time_Epoch": 0.4575986941655477,
-    "Time_Log_Info": 0.010204966862996418,
-    "Time_Process_Batch": 0.022246166070302328,
-    "Time_Train_Batch": 0.3981423616409302
-}
-
-Epoch 443 Memory Usage: 3297 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 444
-{
-    "Log_Likelihood": 20.751798763275147,
-    "Loss": -20.751798763275147,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1872.1224315198049,
-    "Time_Data_Loading": 0.022523244222005207,
-    "Time_Epoch": 0.4553406794865926,
-    "Time_Log_Info": 0.010220352808634441,
-    "Time_Process_Batch": 0.021802794933319092,
-    "Time_Train_Batch": 0.3975266098976135
-}
-
-Epoch 444 Memory Usage: 3298 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 445
-{
-    "Log_Likelihood": 20.762344276428223,
-    "Loss": -20.762344276428223,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1826.2332755781333,
-    "Time_Data_Loading": 0.02195741335550944,
-    "Time_Epoch": 0.45580437978108723,
-    "Time_Log_Info": 0.010208714008331298,
-    "Time_Process_Batch": 0.0223248561223348,
-    "Time_Train_Batch": 0.39823302030563357
-}
-
-Epoch 445 Memory Usage: 3298 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.74it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 446
-{
-    "Log_Likelihood": 20.791851188659667,
-    "Loss": -20.791851188659667,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1813.3208846406394,
-    "Time_Data_Loading": 0.024132812023162843,
-    "Time_Epoch": 0.45757596492767333,
-    "Time_Log_Info": 0.010206170876820882,
-    "Time_Process_Batch": 0.02236570914586385,
-    "Time_Train_Batch": 0.39775609970092773
-}
-
-Epoch 446 Memory Usage: 3298 MB
-
-
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 16%|#5        | 79/500 [00:04<00:22, 18.60it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.40it/s]
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 51%|#####1    | 255/500 [00:13<00:13, 18.45it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 447
-{
-    "Log_Likelihood": 20.7620418510437,
-    "Loss": -20.7620418510437,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1760.3184063911258,
-    "Time_Data_Loading": 0.02306576172510783,
-    "Time_Epoch": 0.4556764721870422,
-    "Time_Log_Info": 0.010233767827351888,
-    "Time_Process_Batch": 0.021712541580200195,
-    "Time_Train_Batch": 0.3975188612937927
-}
-
-Epoch 447 Memory Usage: 3298 MB
-
-
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  0%|          | 1/500 [00:00<01:51,  4.46it/s]
  1%|          | 3/500 [00:00<00:48, 10.21it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.14it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
-Train Epoch 448
-{
-    "Log_Likelihood": 20.785372493743896,
-    "Loss": -20.785372493743896,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1756.2466755188693,
-    "Time_Data_Loading": 0.021948301792144777,
-    "Time_Epoch": 0.45506619215011596,
-    "Time_Log_Info": 0.010210736592610677,
-    "Time_Process_Batch": 0.02184664011001587,
-    "Time_Train_Batch": 0.3978969613711039
-}
-
-Epoch 448 Memory Usage: 3298 MB
-
-
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 70%|#######   | 351/500 [00:19<00:08, 18.48it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.61it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.58it/s]
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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 449
-{
-    "Log_Likelihood": 20.761943210601807,
-    "Loss": -20.761943210601807,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1867.1546831186902,
-    "Time_Data_Loading": 0.02243269681930542,
-    "Time_Epoch": 0.4559686342875163,
-    "Time_Log_Info": 0.01020124355951945,
-    "Time_Process_Batch": 0.022110859553019207,
-    "Time_Train_Batch": 0.3979411284128825
-}
-
-Epoch 449 Memory Usage: 3299 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:11,  3.79it/s]
  1%|          | 3/500 [00:00<00:53,  9.26it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.56it/s]
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 54%|#####3    | 269/500 [00:14<00:12, 18.57it/s]
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 55%|#####4    | 273/500 [00:14<00:12, 18.56it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.66it/s]
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 62%|######2   | 311/500 [00:17<00:10, 18.49it/s]
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 63%|######3   | 315/500 [00:17<00:09, 18.54it/s]
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 70%|######9   | 349/500 [00:19<00:08, 18.48it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.47it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.48it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.33it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.50it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.51it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.58it/s]
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 81%|########1 | 405/500 [00:22<00:05, 18.56it/s]
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 83%|########2 | 415/500 [00:22<00:04, 18.63it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.42it/s]
 91%|######### | 453/500 [00:24<00:02, 18.35it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.25it/s]
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 92%|#########1| 459/500 [00:25<00:02, 18.41it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.50it/s]
 93%|#########2| 463/500 [00:25<00:02, 18.49it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.49it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.45it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.44it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.47it/s]
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 95%|#########5| 477/500 [00:25<00:01, 18.65it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.55it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.61it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.56it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.63it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.59it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.57it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.55it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.40it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.40it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.32it/s]
100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 450
-{
-    "Log_Likelihood": 20.79616551589966,
-    "Loss": -20.79616551589966,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1853.163434455937,
-    "Time_Data_Loading": 0.02284172773361206,
-    "Time_Epoch": 0.4562556942303975,
-    "Time_Log_Info": 0.01017298698425293,
-    "Time_Process_Batch": 0.022139887015024822,
-    "Time_Train_Batch": 0.3980358203252157
-}
-
-Epoch 450 Memory Usage: 3300 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:06,  3.95it/s]
  1%|          | 3/500 [00:00<00:52,  9.44it/s]
  1%|1         | 5/500 [00:00<00:39, 12.59it/s]
  1%|1         | 7/500 [00:00<00:33, 14.58it/s]
  2%|1         | 9/500 [00:00<00:31, 15.36it/s]
  2%|2         | 11/500 [00:00<00:29, 16.35it/s]
  3%|2         | 13/500 [00:00<00:28, 16.94it/s]
  3%|3         | 15/500 [00:01<00:27, 17.50it/s]
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  4%|3         | 19/500 [00:01<00:26, 18.02it/s]
  4%|4         | 21/500 [00:01<00:26, 18.18it/s]
  5%|4         | 23/500 [00:01<00:26, 18.30it/s]
  5%|5         | 25/500 [00:01<00:25, 18.40it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.21it/s]
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 51%|#####1    | 255/500 [00:14<00:13, 18.40it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.65it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.57it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 451
-{
-    "Log_Likelihood": 20.78341558456421,
-    "Loss": -20.78341558456421,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1785.5719089384424,
-    "Time_Data_Loading": 0.023066282272338867,
-    "Time_Epoch": 0.4574724952379862,
-    "Time_Log_Info": 0.010192382335662841,
-    "Time_Process_Batch": 0.022559547424316408,
-    "Time_Train_Batch": 0.3982701818148295
-}
-
-Epoch 451 Memory Usage: 3300 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.19it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 452
-{
-    "Log_Likelihood": 20.767065307617187,
-    "Loss": -20.767065307617187,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1824.5794810478776,
-    "Time_Data_Loading": 0.022266896565755208,
-    "Time_Epoch": 0.4561371644337972,
-    "Time_Log_Info": 0.010228264331817626,
-    "Time_Process_Batch": 0.022454615434010824,
-    "Time_Train_Batch": 0.3979192654291789
-}
-
-Epoch 452 Memory Usage: 3300 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:02,  4.06it/s]
  1%|          | 3/500 [00:00<00:50,  9.76it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 453
-{
-    "Log_Likelihood": 20.806003772735597,
-    "Loss": -20.806003772735597,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1854.8250543007096,
-    "Time_Data_Loading": 0.023146235942840578,
-    "Time_Epoch": 0.45678131182988485,
-    "Time_Log_Info": 0.010164256890614827,
-    "Time_Process_Batch": 0.022263936201731362,
-    "Time_Train_Batch": 0.39809769789377847
-}
-
-Epoch 453 Memory Usage: 3300 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
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100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 454
-{
-    "Log_Likelihood": 20.79245423126221,
-    "Loss": -20.79245423126221,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1787.0363780622965,
-    "Time_Data_Loading": 0.023390960693359376,
-    "Time_Epoch": 0.45671745936075847,
-    "Time_Log_Info": 0.010201342900594075,
-    "Time_Process_Batch": 0.022420016924540202,
-    "Time_Train_Batch": 0.397426438331604
-}
-
-Epoch 454 Memory Usage: 3301 MB
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-Train Epoch 455
-{
-    "Log_Likelihood": 20.807392974853517,
-    "Loss": -20.807392974853517,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1979.8582852018747,
-    "Time_Data_Loading": 0.023253639539082844,
-    "Time_Epoch": 0.4571391383806864,
-    "Time_Log_Info": 0.010196876525878907,
-    "Time_Process_Batch": 0.022308512528737386,
-    "Time_Train_Batch": 0.39827027718226116
-}
-
-Epoch 455 Memory Usage: 3300 MB
-
-
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 13%|#3        | 65/500 [00:03<00:23, 18.52it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.52it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.51it/s]
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 15%|#4        | 73/500 [00:04<00:22, 18.58it/s]
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 23%|##3       | 117/500 [00:06<00:20, 18.24it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.27it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.44it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.45it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.32it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.61it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.63it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.69it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.80it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.45it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 456
-{
-    "Log_Likelihood": 20.790578006744386,
-    "Loss": -20.790578006744386,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1847.596339527079,
-    "Time_Data_Loading": 0.023747734228769937,
-    "Time_Epoch": 0.4568124850591024,
-    "Time_Log_Info": 0.010194989045461018,
-    "Time_Process_Batch": 0.02235702673594157,
-    "Time_Train_Batch": 0.3974375486373901
-}
-
-Epoch 456 Memory Usage: 3302 MB
-
-
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  0%|          | 1/500 [00:00<02:28,  3.37it/s]
  1%|          | 3/500 [00:00<00:57,  8.61it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.13it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 457
-{
-    "Log_Likelihood": 20.80922966384888,
-    "Loss": -20.80922966384888,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1918.6102972234264,
-    "Time_Data_Loading": 0.02345735232035319,
-    "Time_Epoch": 0.45686163504918414,
-    "Time_Log_Info": 0.010188531875610352,
-    "Time_Process_Batch": 0.022227561473846434,
-    "Time_Train_Batch": 0.3978372931480408
-}
-
-Epoch 457 Memory Usage: 3302 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 458
-{
-    "Log_Likelihood": 20.793129089355467,
-    "Loss": -20.793129089355467,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1860.642731534426,
-    "Time_Data_Loading": 0.022593021392822266,
-    "Time_Epoch": 0.45596729119618734,
-    "Time_Log_Info": 0.010198179880777996,
-    "Time_Process_Batch": 0.022041372458140054,
-    "Time_Train_Batch": 0.39802735249201454
-}
-
-Epoch 458 Memory Usage: 3302 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 459
-{
-    "Log_Likelihood": 20.814545585632324,
-    "Loss": -20.814545585632324,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1791.0392291120813,
-    "Time_Data_Loading": 0.02269601821899414,
-    "Time_Epoch": 0.4565359870592753,
-    "Time_Log_Info": 0.010211654504140218,
-    "Time_Process_Batch": 0.022463297843933104,
-    "Time_Train_Batch": 0.3981139540672302
-}
-
-Epoch 459 Memory Usage: 3303 MB
-
-
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-Train Epoch 460
-{
-    "Log_Likelihood": 20.830230583190918,
-    "Loss": -20.830230583190918,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1962.6823424071333,
-    "Time_Data_Loading": 0.024516514937082925,
-    "Time_Epoch": 0.4585131764411926,
-    "Time_Log_Info": 0.010177719593048095,
-    "Time_Process_Batch": 0.022557103633880617,
-    "Time_Train_Batch": 0.3981545686721802
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_460.pth
-
-Epoch 460 Memory Usage: 3304 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 461
-{
-    "Log_Likelihood": 20.827853546142578,
-    "Loss": -20.827853546142578,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1781.4328264792803,
-    "Time_Data_Loading": 0.02305908203125,
-    "Time_Epoch": 0.45708695650100706,
-    "Time_Log_Info": 0.010206290086110433,
-    "Time_Process_Batch": 0.02251133918762207,
-    "Time_Train_Batch": 0.39822943607966105
-}
-
-Epoch 461 Memory Usage: 3304 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.70it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 462
-{
-    "Log_Likelihood": 20.83962799835205,
-    "Loss": -20.83962799835205,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1827.8067851424605,
-    "Time_Data_Loading": 0.022907749811808268,
-    "Time_Epoch": 0.4567261258761088,
-    "Time_Log_Info": 0.010214245319366455,
-    "Time_Process_Batch": 0.02257751226425171,
-    "Time_Train_Batch": 0.3977609515190125
-}
-
-Epoch 462 Memory Usage: 3304 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 463
-{
-    "Log_Likelihood": 20.85286393356323,
-    "Loss": -20.85286393356323,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1932.7015104524944,
-    "Time_Data_Loading": 0.022987480958302817,
-    "Time_Epoch": 0.456768270333608,
-    "Time_Log_Info": 0.01020906368891398,
-    "Time_Process_Batch": 0.0222915252049764,
-    "Time_Train_Batch": 0.3981282671292623
-}
-
-Epoch 463 Memory Usage: 3304 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.27it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 464
-{
-    "Log_Likelihood": 20.861581176757813,
-    "Loss": -20.861581176757813,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1925.9545504666637,
-    "Time_Data_Loading": 0.022710208098093668,
-    "Time_Epoch": 0.4563153823216756,
-    "Time_Log_Info": 0.010223376750946044,
-    "Time_Process_Batch": 0.02238337993621826,
-    "Time_Train_Batch": 0.3979045510292053
-}
-
-Epoch 464 Memory Usage: 3304 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 465
-{
-    "Log_Likelihood": 20.833468406677245,
-    "Loss": -20.833468406677245,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1942.9008583419732,
-    "Time_Data_Loading": 0.022095008691151937,
-    "Time_Epoch": 0.4562265594800313,
-    "Time_Log_Info": 0.010217487812042236,
-    "Time_Process_Batch": 0.02243403991063436,
-    "Time_Train_Batch": 0.39834532340367634
-}
-
-Epoch 465 Memory Usage: 3304 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 466
-{
-    "Log_Likelihood": 20.842205028533936,
-    "Loss": -20.842205028533936,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1803.51994967785,
-    "Time_Data_Loading": 0.023424442609151205,
-    "Time_Epoch": 0.45701005856196086,
-    "Time_Log_Info": 0.010212413469950358,
-    "Time_Process_Batch": 0.02230998675028483,
-    "Time_Train_Batch": 0.3979666312535604
-}
-
-Epoch 466 Memory Usage: 3305 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 467
-{
-    "Log_Likelihood": 20.8554224319458,
-    "Loss": -20.8554224319458,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1945.3970632685612,
-    "Time_Data_Loading": 0.022652200857798257,
-    "Time_Epoch": 0.45598523219426473,
-    "Time_Log_Info": 0.01018695036570231,
-    "Time_Process_Batch": 0.02226870854695638,
-    "Time_Train_Batch": 0.3978247086207072
-}
-
-Epoch 467 Memory Usage: 3305 MB
-
-
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  0%|          | 1/500 [00:00<01:50,  4.50it/s]
  1%|          | 3/500 [00:00<00:48, 10.28it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.28it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 468
-{
-    "Log_Likelihood": 20.837258247375487,
-    "Loss": -20.837258247375487,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1901.6924517480238,
-    "Time_Data_Loading": 0.02271690368652344,
-    "Time_Epoch": 0.4566327770551046,
-    "Time_Log_Info": 0.010205864906311035,
-    "Time_Process_Batch": 0.02238572438557943,
-    "Time_Train_Batch": 0.3982196688652039
-}
-
-Epoch 468 Memory Usage: 3305 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 469
-{
-    "Log_Likelihood": 20.808123233795165,
-    "Loss": -20.808123233795165,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1819.7592470356585,
-    "Time_Data_Loading": 0.024147268136342367,
-    "Time_Epoch": 0.45810168186823524,
-    "Time_Log_Info": 0.010213383038838704,
-    "Time_Process_Batch": 0.022524925072987874,
-    "Time_Train_Batch": 0.3977065285046895
-}
-
-Epoch 469 Memory Usage: 3306 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 470
-{
-    "Log_Likelihood": 20.836641235351564,
-    "Loss": -20.836641235351564,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1928.9544423345237,
-    "Time_Data_Loading": 0.023568216959635416,
-    "Time_Epoch": 0.4571763356526693,
-    "Time_Log_Info": 0.010204744338989259,
-    "Time_Process_Batch": 0.022500443458557128,
-    "Time_Train_Batch": 0.39779887199401853
-}
-
-Epoch 470 Memory Usage: 3306 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 471
-{
-    "Log_Likelihood": 20.87456911468506,
-    "Loss": -20.87456911468506,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2036.0538882137892,
-    "Time_Data_Loading": 0.023899265130360923,
-    "Time_Epoch": 0.4574826121330261,
-    "Time_Log_Info": 0.010207295417785645,
-    "Time_Process_Batch": 0.022514132658640544,
-    "Time_Train_Batch": 0.3976245562235514
-}
-
-Epoch 471 Memory Usage: 3307 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.56it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 472
-{
-    "Log_Likelihood": 20.865328437805175,
-    "Loss": -20.865328437805175,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1903.8090475342663,
-    "Time_Data_Loading": 0.024325875441233318,
-    "Time_Epoch": 0.4577816923459371,
-    "Time_Log_Info": 0.010222156842549643,
-    "Time_Process_Batch": 0.022362271944681805,
-    "Time_Train_Batch": 0.3978279113769531
-}
-
-Epoch 472 Memory Usage: 3308 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
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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 473
-{
-    "Log_Likelihood": 20.874740882873535,
-    "Loss": -20.874740882873535,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1911.7539761406092,
-    "Time_Data_Loading": 0.023190907637278237,
-    "Time_Epoch": 0.45619056224822996,
-    "Time_Log_Info": 0.010225800673166911,
-    "Time_Process_Batch": 0.022062985102335612,
-    "Time_Train_Batch": 0.39764628807703656
-}
-
-Epoch 473 Memory Usage: 3308 MB
-
-
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  2%|1         | 9/500 [00:00<00:30, 16.21it/s]
  2%|2         | 11/500 [00:00<00:28, 17.00it/s]
  3%|2         | 13/500 [00:00<00:27, 17.48it/s]
  3%|3         | 15/500 [00:00<00:27, 17.87it/s]
  3%|3         | 17/500 [00:01<00:26, 18.14it/s]
  4%|3         | 19/500 [00:01<00:26, 18.13it/s]
  4%|4         | 21/500 [00:01<00:26, 18.36it/s]
  5%|4         | 23/500 [00:01<00:25, 18.43it/s]
  5%|5         | 25/500 [00:01<00:25, 18.54it/s]
  5%|5         | 27/500 [00:01<00:25, 18.46it/s]
  6%|5         | 29/500 [00:01<00:25, 18.66it/s]
  6%|6         | 31/500 [00:01<00:25, 18.62it/s]
  7%|6         | 33/500 [00:01<00:25, 18.67it/s]
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 10%|9         | 49/500 [00:02<00:24, 18.45it/s]
 10%|#         | 51/500 [00:02<00:24, 18.53it/s]
 11%|#         | 53/500 [00:03<00:24, 18.55it/s]
 11%|#1        | 55/500 [00:03<00:24, 18.48it/s]
 11%|#1        | 57/500 [00:03<00:24, 18.22it/s]
 12%|#1        | 59/500 [00:03<00:24, 18.35it/s]
 12%|#2        | 61/500 [00:03<00:24, 18.08it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.28it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.36it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.53it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.57it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.55it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.52it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.57it/s]
 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, 18.52it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.57it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.49it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.57it/s]
 18%|#7        | 89/500 [00:04<00:22, 18.51it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.53it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.55it/s]
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 20%|#9        | 99/500 [00:05<00:21, 18.59it/s]
 20%|##        | 101/500 [00:05<00:21, 18.56it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.67it/s]
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 22%|##1       | 109/500 [00:06<00:20, 18.64it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.66it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.57it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.68it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.62it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.32it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.36it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.45it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.47it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.57it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.69it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.58it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.65it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.27it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.56it/s]
 29%|##9       | 145/500 [00:07<00:19, 18.50it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.54it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.47it/s]
 30%|###       | 151/500 [00:08<00:18, 18.51it/s]
 31%|###       | 153/500 [00:08<00:18, 18.48it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.55it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.62it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.62it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.62it/s]
 33%|###2      | 163/500 [00:08<00:18, 18.68it/s]
 33%|###3      | 165/500 [00:09<00:17, 18.69it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.60it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.67it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.73it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.57it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.56it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.66it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.57it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.30it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.35it/s]
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 37%|###7      | 187/500 [00:10<00:16, 18.44it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.49it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.56it/s]
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 39%|###9      | 195/500 [00:10<00:16, 18.58it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.46it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.45it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.51it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.58it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.57it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.49it/s]
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 53%|#####2    | 263/500 [00:14<00:12, 18.55it/s]
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 56%|#####5    | 279/500 [00:15<00:11, 18.43it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.52it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.16it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.30it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.20it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.29it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.27it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.50it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.69it/s]
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 93%|#########3| 465/500 [00:25<00:01, 18.51it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.59it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.43it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.41it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.29it/s]
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 96%|#########5| 479/500 [00:26<00:01, 18.44it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.51it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.60it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.61it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.63it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.37it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.21it/s]
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 99%|#########9| 495/500 [00:26<00:00, 18.14it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.25it/s]
100%|#########9| 499/500 [00:27<00:00, 18.34it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 474
-{
-    "Log_Likelihood": 20.86772587966919,
-    "Loss": -20.86772587966919,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1955.3108265932715,
-    "Time_Data_Loading": 0.022146034240722656,
-    "Time_Epoch": 0.45627264976501464,
-    "Time_Log_Info": 0.01022337277730306,
-    "Time_Process_Batch": 0.022326111793518066,
-    "Time_Train_Batch": 0.39820226430892947
-}
-
-Epoch 474 Memory Usage: 3307 MB
-
-
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  0%|          | 1/500 [00:00<01:56,  4.29it/s]
  1%|          | 3/500 [00:00<00:49, 10.02it/s]
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 15%|#4        | 73/500 [00:04<00:23, 18.24it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 475
-{
-    "Log_Likelihood": 20.865882530212403,
-    "Loss": -20.865882530212403,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1742.997391411671,
-    "Time_Data_Loading": 0.0226637601852417,
-    "Time_Epoch": 0.45639121532440186,
-    "Time_Log_Info": 0.010192851225535074,
-    "Time_Process_Batch": 0.02239693800608317,
-    "Time_Train_Batch": 0.3978926301002502
-}
-
-Epoch 475 Memory Usage: 3308 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 476
-{
-    "Log_Likelihood": 20.839341861724854,
-    "Loss": -20.839341861724854,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1808.4712500015798,
-    "Time_Data_Loading": 0.02321889400482178,
-    "Time_Epoch": 0.45689258178075154,
-    "Time_Log_Info": 0.010239899158477783,
-    "Time_Process_Batch": 0.022685539722442628,
-    "Time_Train_Batch": 0.3976639787356059
-}
-
-Epoch 476 Memory Usage: 3309 MB
-
-
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 70%|#######   | 351/500 [00:19<00:08, 18.48it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 477
-{
-    "Log_Likelihood": 20.850034912109376,
-    "Loss": -20.850034912109376,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1947.158299988441,
-    "Time_Data_Loading": 0.023229984442392985,
-    "Time_Epoch": 0.4569455663363139,
-    "Time_Log_Info": 0.010163907210032146,
-    "Time_Process_Batch": 0.0223995844523112,
-    "Time_Train_Batch": 0.39805874824523924
-}
-
-Epoch 477 Memory Usage: 3309 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
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  1%|          | 3/500 [00:00<00:53,  9.34it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.45it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 478
-{
-    "Log_Likelihood": 20.869014785766602,
-    "Loss": -20.869014785766602,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1968.5725514009134,
-    "Time_Data_Loading": 0.023408945401509604,
-    "Time_Epoch": 0.45611913204193116,
-    "Time_Log_Info": 0.010217618942260743,
-    "Time_Process_Batch": 0.021907722949981688,
-    "Time_Train_Batch": 0.3974617083867391
-}
-
-Epoch 478 Memory Usage: 3309 MB
-
-
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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 479
-{
-    "Log_Likelihood": 20.888228675842285,
-    "Loss": -20.888228675842285,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1870.6243126862764,
-    "Time_Data_Loading": 0.022286840279897056,
-    "Time_Epoch": 0.4559100349744161,
-    "Time_Log_Info": 0.010198537508646648,
-    "Time_Process_Batch": 0.022221938769022623,
-    "Time_Train_Batch": 0.3980600913365682
-}
-
-Epoch 479 Memory Usage: 3309 MB
-
-
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-Train Epoch 480
-{
-    "Log_Likelihood": 20.875748493194582,
-    "Loss": -20.875748493194582,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1928.0927891396634,
-    "Time_Data_Loading": 0.023250814278920492,
-    "Time_Epoch": 0.4565164764722188,
-    "Time_Log_Info": 0.010236716270446778,
-    "Time_Process_Batch": 0.022365713119506837,
-    "Time_Train_Batch": 0.39756748676300047
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_480.pth
-
-Epoch 480 Memory Usage: 3310 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 481
-{
-    "Log_Likelihood": 20.876282207489012,
-    "Loss": -20.876282207489012,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1924.00420546452,
-    "Time_Data_Loading": 0.02275337775548299,
-    "Time_Epoch": 0.4558507879575094,
-    "Time_Log_Info": 0.010218330224355062,
-    "Time_Process_Batch": 0.02216461896896362,
-    "Time_Train_Batch": 0.3975783387819926
-}
-
-Epoch 481 Memory Usage: 3311 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 482
-{
-    "Log_Likelihood": 20.862607063293456,
-    "Loss": -20.862607063293456,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1867.16542338583,
-    "Time_Data_Loading": 0.022696920235951743,
-    "Time_Epoch": 0.4565242330233256,
-    "Time_Log_Info": 0.010208845138549805,
-    "Time_Process_Batch": 0.02240416208902995,
-    "Time_Train_Batch": 0.397877581914266
-}
-
-Epoch 482 Memory Usage: 3311 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 483
-{
-    "Log_Likelihood": 20.88342399597168,
-    "Loss": -20.88342399597168,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1866.522301641974,
-    "Time_Data_Loading": 0.023247818152109783,
-    "Time_Epoch": 0.45711348454157513,
-    "Time_Log_Info": 0.010189942518870036,
-    "Time_Process_Batch": 0.02259836196899414,
-    "Time_Train_Batch": 0.39767752488454183
-}
-
-Epoch 483 Memory Usage: 3311 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
-Train Epoch 484
-{
-    "Log_Likelihood": 20.885844913482664,
-    "Loss": -20.885844913482664,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2044.948276515869,
-    "Time_Data_Loading": 0.022296365102132162,
-    "Time_Epoch": 0.4553519725799561,
-    "Time_Log_Info": 0.010220746199289957,
-    "Time_Process_Batch": 0.021905767917633056,
-    "Time_Train_Batch": 0.3978880763053894
-}
-
-Epoch 484 Memory Usage: 3311 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.66it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 485
-{
-    "Log_Likelihood": 20.800417810440063,
-    "Loss": -20.800417810440063,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1926.6896305868156,
-    "Time_Data_Loading": 0.022658840815226237,
-    "Time_Epoch": 0.4558032274246216,
-    "Time_Log_Info": 0.010222947597503662,
-    "Time_Process_Batch": 0.022209707895914713,
-    "Time_Train_Batch": 0.39763491551081337
-}
-
-Epoch 485 Memory Usage: 3311 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.71it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 486
-{
-    "Log_Likelihood": 20.883701667785644,
-    "Loss": -20.883701667785644,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1928.989186103074,
-    "Time_Data_Loading": 0.022700055440266927,
-    "Time_Epoch": 0.45616138776143395,
-    "Time_Log_Info": 0.01022090514500936,
-    "Time_Process_Batch": 0.022069855531056722,
-    "Time_Train_Batch": 0.3981181224187215
-}
-
-Epoch 486 Memory Usage: 3311 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.16it/s]
100%|##########| 500/500 [00:27<00:00, 18.29it/s]
-Train Epoch 487
-{
-    "Log_Likelihood": 20.927116607666015,
-    "Loss": -20.927116607666015,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1931.8735133564678,
-    "Time_Data_Loading": 0.023093227545420328,
-    "Time_Epoch": 0.4582484205563863,
-    "Time_Log_Info": 0.010132292906443277,
-    "Time_Process_Batch": 0.023011831442515056,
-    "Time_Train_Batch": 0.3988985578219096
-}
-
-Epoch 487 Memory Usage: 3312 MB
-
-
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 97%|#########7| 487/500 [00:26<00:00, 18.49it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.22it/s]
-Train Epoch 488
-{
-    "Log_Likelihood": 20.864561111450197,
-    "Loss": -20.864561111450197,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1895.6325594684229,
-    "Time_Data_Loading": 0.025368169943491618,
-    "Time_Epoch": 0.46021284262339274,
-    "Time_Log_Info": 0.010135988394419352,
-    "Time_Process_Batch": 0.02245408296585083,
-    "Time_Train_Batch": 0.39884653091430666
-}
-
-Epoch 488 Memory Usage: 3312 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:01,  4.11it/s]
  1%|          | 3/500 [00:00<00:51,  9.63it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.30it/s]
-Train Epoch 489
-{
-    "Log_Likelihood": 20.90997518157959,
-    "Loss": -20.90997518157959,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2014.722107977407,
-    "Time_Data_Loading": 0.023068233331044515,
-    "Time_Epoch": 0.4580533703168233,
-    "Time_Log_Info": 0.010121583938598633,
-    "Time_Process_Batch": 0.02269004980723063,
-    "Time_Train_Batch": 0.3990336894989014
-}
-
-Epoch 489 Memory Usage: 3313 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 490
-{
-    "Log_Likelihood": 20.91120917892456,
-    "Loss": -20.91120917892456,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2092.891098949242,
-    "Time_Data_Loading": 0.023354832331339517,
-    "Time_Epoch": 0.45842132568359373,
-    "Time_Log_Info": 0.010123411814371744,
-    "Time_Process_Batch": 0.022790908813476562,
-    "Time_Train_Batch": 0.3989835619926453
-}
-
-Epoch 490 Memory Usage: 3313 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 491
-{
-    "Log_Likelihood": 20.927264835357665,
-    "Loss": -20.927264835357665,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1955.9366404320606,
-    "Time_Data_Loading": 0.023009089628855388,
-    "Time_Epoch": 0.45727790196736656,
-    "Time_Log_Info": 0.010133496920267741,
-    "Time_Process_Batch": 0.022335306803385416,
-    "Time_Train_Batch": 0.3986726681391398
-}
-
-Epoch 491 Memory Usage: 3313 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 492
-{
-    "Log_Likelihood": 20.93293578338623,
-    "Loss": -20.93293578338623,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2077.4780407092703,
-    "Time_Data_Loading": 0.022072970867156982,
-    "Time_Epoch": 0.456171715259552,
-    "Time_Log_Info": 0.010177918275197347,
-    "Time_Process_Batch": 0.022686628500620525,
-    "Time_Train_Batch": 0.3981226007143656
-}
-
-Epoch 492 Memory Usage: 3314 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 493
-{
-    "Log_Likelihood": 20.919052444458007,
-    "Loss": -20.919052444458007,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1925.7479645403484,
-    "Time_Data_Loading": 0.023414301872253417,
-    "Time_Epoch": 0.4571428418159485,
-    "Time_Log_Info": 0.010187594095865886,
-    "Time_Process_Batch": 0.02238708734512329,
-    "Time_Train_Batch": 0.39795624017715453
-}
-
-Epoch 493 Memory Usage: 3314 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 494
-{
-    "Log_Likelihood": 20.916199798583985,
-    "Loss": -20.916199798583985,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2017.8557187307085,
-    "Time_Data_Loading": 0.02258514165878296,
-    "Time_Epoch": 0.4558501958847046,
-    "Time_Log_Info": 0.010199205080668131,
-    "Time_Process_Batch": 0.02223427693049113,
-    "Time_Train_Batch": 0.39767417510350545
-}
-
-Epoch 494 Memory Usage: 3314 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
-Train Epoch 495
-{
-    "Log_Likelihood": 20.941022579193117,
-    "Loss": -20.941022579193117,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2095.236582466238,
-    "Time_Data_Loading": 0.02232701381047567,
-    "Time_Epoch": 0.45548510948816934,
-    "Time_Log_Info": 0.010223106543223063,
-    "Time_Process_Batch": 0.021958088874816893,
-    "Time_Train_Batch": 0.3978727062543233
-}
-
-Epoch 495 Memory Usage: 3314 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 496
-{
-    "Log_Likelihood": 20.937090564727782,
-    "Loss": -20.937090564727782,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1975.8923937251209,
-    "Time_Data_Loading": 0.0224692702293396,
-    "Time_Epoch": 0.4558954477310181,
-    "Time_Log_Info": 0.010205380121866862,
-    "Time_Process_Batch": 0.02198087771733602,
-    "Time_Train_Batch": 0.39805360237757365
-}
-
-Epoch 496 Memory Usage: 3315 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 497
-{
-    "Log_Likelihood": 20.893113189697267,
-    "Loss": -20.893113189697267,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1979.1029448083484,
-    "Time_Data_Loading": 0.022932875156402587,
-    "Time_Epoch": 0.4568320393562317,
-    "Time_Log_Info": 0.01020798683166504,
-    "Time_Process_Batch": 0.0224985400835673,
-    "Time_Train_Batch": 0.39792508681615196
-}
-
-Epoch 497 Memory Usage: 3315 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:56,  4.30it/s]
  1%|          | 3/500 [00:00<00:53,  9.31it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 498
-{
-    "Log_Likelihood": 20.924463718414305,
-    "Loss": -20.924463718414305,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2074.948548716154,
-    "Time_Data_Loading": 0.02275260289510091,
-    "Time_Epoch": 0.45641951163609823,
-    "Time_Log_Info": 0.010211658477783204,
-    "Time_Process_Batch": 0.02204765478769938,
-    "Time_Train_Batch": 0.39804354508717854
-}
-
-Epoch 498 Memory Usage: 3316 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 499
-{
-    "Log_Likelihood": 20.945286029815673,
-    "Loss": -20.945286029815673,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1970.2174679863815,
-    "Time_Data_Loading": 0.023064156373341877,
-    "Time_Epoch": 0.45657827059427897,
-    "Time_Log_Info": 0.010193979740142823,
-    "Time_Process_Batch": 0.022087907791137694,
-    "Time_Train_Batch": 0.3980671207110087
-}
-
-Epoch 499 Memory Usage: 3317 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:02,  4.07it/s]
  1%|          | 3/500 [00:00<00:51,  9.56it/s]
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-Train Epoch 500
-{
-    "Log_Likelihood": 20.95363586807251,
-    "Loss": -20.95363586807251,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2152.7040400793253,
-    "Time_Data_Loading": 0.023016226291656495,
-    "Time_Epoch": 0.4571523348490397,
-    "Time_Log_Info": 0.010216983159383138,
-    "Time_Process_Batch": 0.022397140661875408,
-    "Time_Train_Batch": 0.39809052149454754
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_500.pth
-
-Epoch 500 Memory Usage: 3317 MB
-
-
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-Train Epoch 501
-{
-    "Log_Likelihood": 20.951721698760988,
-    "Loss": -20.951721698760988,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2091.1729630935724,
-    "Time_Data_Loading": 0.022855683167775472,
-    "Time_Epoch": 0.45589458545049033,
-    "Time_Log_Info": 0.010222343603769939,
-    "Time_Process_Batch": 0.022240511576334634,
-    "Time_Train_Batch": 0.39728679656982424
-}
-
-Epoch 501 Memory Usage: 3317 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 502
-{
-    "Log_Likelihood": 20.970869636535646,
-    "Loss": -20.970869636535646,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2136.894518659325,
-    "Time_Data_Loading": 0.023121213912963866,
-    "Time_Epoch": 0.4565471609433492,
-    "Time_Log_Info": 0.010222792625427246,
-    "Time_Process_Batch": 0.02208243211110433,
-    "Time_Train_Batch": 0.3979304591814677
-}
-
-Epoch 502 Memory Usage: 3317 MB
-
-
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 11%|#1        | 57/500 [00:03<00:23, 18.78it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.69it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.63it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.64it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.57it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.53it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.57it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.61it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.49it/s]
 15%|#5        | 75/500 [00:04<00:23, 18.47it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.49it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.50it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.43it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.51it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.58it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.57it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.56it/s]
 18%|#8        | 91/500 [00:05<00:21, 18.64it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.65it/s]
 19%|#9        | 95/500 [00:05<00:22, 18.25it/s]
 19%|#9        | 97/500 [00:05<00:22, 18.18it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.40it/s]
 20%|##        | 101/500 [00:05<00:21, 18.44it/s]
 21%|##        | 103/500 [00:05<00:21, 18.59it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.38it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.35it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.37it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.51it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.44it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.60it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.42it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.60it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.63it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.61it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.51it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.60it/s]
 26%|##5       | 129/500 [00:07<00:19, 18.65it/s]
 26%|##6       | 131/500 [00:07<00:19, 18.60it/s]
 27%|##6       | 133/500 [00:07<00:19, 18.65it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.54it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.56it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.57it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.65it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.54it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.63it/s]
 29%|##9       | 147/500 [00:08<00:18, 18.68it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.66it/s]
 30%|###       | 151/500 [00:08<00:18, 18.65it/s]
 31%|###       | 153/500 [00:08<00:18, 18.61it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.62it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.47it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.55it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.53it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.59it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.59it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.52it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.56it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.55it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.49it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.54it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.52it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.56it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.56it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.59it/s]
 37%|###7      | 185/500 [00:10<00:16, 18.67it/s]
 37%|###7      | 187/500 [00:10<00:16, 18.67it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.75it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.76it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.66it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.62it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.43it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.38it/s]
 40%|####      | 201/500 [00:11<00:16, 18.43it/s]
 41%|####      | 203/500 [00:11<00:15, 18.62it/s]
 41%|####1     | 205/500 [00:11<00:15, 18.54it/s]
 41%|####1     | 207/500 [00:11<00:15, 18.57it/s]
 42%|####1     | 209/500 [00:11<00:15, 18.51it/s]
 42%|####2     | 211/500 [00:11<00:15, 18.54it/s]
 43%|####2     | 213/500 [00:11<00:15, 18.50it/s]
 43%|####3     | 215/500 [00:11<00:15, 18.55it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.49it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.46it/s]
 44%|####4     | 221/500 [00:12<00:15, 18.33it/s]
 45%|####4     | 223/500 [00:12<00:14, 18.48it/s]
 45%|####5     | 225/500 [00:12<00:14, 18.50it/s]
 45%|####5     | 227/500 [00:12<00:14, 18.57it/s]
 46%|####5     | 229/500 [00:12<00:14, 18.55it/s]
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 47%|####6     | 233/500 [00:12<00:14, 18.61it/s]
 47%|####6     | 235/500 [00:12<00:14, 18.57it/s]
 47%|####7     | 237/500 [00:12<00:14, 18.59it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.51it/s]
 48%|####8     | 241/500 [00:13<00:13, 18.55it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.47it/s]
 49%|####9     | 245/500 [00:13<00:13, 18.58it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.55it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.45it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.11it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.05it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.12it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.23it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.26it/s]
 52%|#####2    | 261/500 [00:14<00:13, 18.38it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.48it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.51it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.55it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.28it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.25it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.20it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.22it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.38it/s]
 56%|#####5    | 279/500 [00:15<00:12, 18.38it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.44it/s]
 57%|#####6    | 283/500 [00:15<00:11, 18.42it/s]
 57%|#####6    | 285/500 [00:15<00:11, 18.47it/s]
 57%|#####7    | 287/500 [00:15<00:11, 18.24it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.38it/s]
 58%|#####8    | 291/500 [00:15<00:11, 18.31it/s]
 59%|#####8    | 293/500 [00:16<00:11, 18.38it/s]
 59%|#####8    | 295/500 [00:16<00:11, 18.42it/s]
 59%|#####9    | 297/500 [00:16<00:10, 18.54it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.41it/s]
 60%|######    | 301/500 [00:16<00:10, 18.51it/s]
 61%|######    | 303/500 [00:16<00:10, 18.31it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.51it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.45it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.24it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.14it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.18it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.31it/s]
 63%|######3   | 317/500 [00:17<00:10, 18.25it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.18it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.33it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.40it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.43it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.42it/s]
 66%|######5   | 329/500 [00:18<00:09, 18.38it/s]
 66%|######6   | 331/500 [00:18<00:09, 18.52it/s]
 67%|######6   | 333/500 [00:18<00:09, 18.49it/s]
 67%|######7   | 335/500 [00:18<00:08, 18.55it/s]
 67%|######7   | 337/500 [00:18<00:08, 18.51it/s]
 68%|######7   | 339/500 [00:18<00:08, 18.57it/s]
 68%|######8   | 341/500 [00:18<00:08, 18.53it/s]
 69%|######8   | 343/500 [00:18<00:08, 18.48it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.38it/s]
 69%|######9   | 347/500 [00:18<00:08, 18.22it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.38it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.21it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.30it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.20it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.35it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.39it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.49it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.38it/s]
 73%|#######3  | 365/500 [00:19<00:07, 18.55it/s]
 73%|#######3  | 367/500 [00:20<00:07, 18.42it/s]
 74%|#######3  | 369/500 [00:20<00:07, 18.61it/s]
 74%|#######4  | 371/500 [00:20<00:06, 18.62it/s]
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 77%|#######7  | 387/500 [00:21<00:06, 18.49it/s]
 78%|#######7  | 389/500 [00:21<00:06, 18.45it/s]
 78%|#######8  | 391/500 [00:21<00:05, 18.51it/s]
 79%|#######8  | 393/500 [00:21<00:05, 18.35it/s]
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 79%|#######9  | 397/500 [00:21<00:05, 18.40it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.42it/s]
 81%|########  | 403/500 [00:22<00:05, 18.23it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.36it/s]
 81%|########1 | 407/500 [00:22<00:05, 18.39it/s]
 82%|########1 | 409/500 [00:22<00:04, 18.45it/s]
 82%|########2 | 411/500 [00:22<00:04, 18.34it/s]
 83%|########2 | 413/500 [00:22<00:04, 18.39it/s]
 83%|########2 | 415/500 [00:22<00:04, 18.47it/s]
 83%|########3 | 417/500 [00:22<00:04, 18.54it/s]
 84%|########3 | 419/500 [00:22<00:04, 18.41it/s]
 84%|########4 | 421/500 [00:22<00:04, 18.24it/s]
 85%|########4 | 423/500 [00:23<00:04, 18.18it/s]
 85%|########5 | 425/500 [00:23<00:04, 18.27it/s]
 85%|########5 | 427/500 [00:23<00:03, 18.32it/s]
 86%|########5 | 429/500 [00:23<00:03, 18.30it/s]
 86%|########6 | 431/500 [00:23<00:03, 18.47it/s]
 87%|########6 | 433/500 [00:23<00:03, 18.36it/s]
 87%|########7 | 435/500 [00:23<00:03, 18.35it/s]
 87%|########7 | 437/500 [00:23<00:03, 18.42it/s]
 88%|########7 | 439/500 [00:23<00:03, 18.33it/s]
 88%|########8 | 441/500 [00:24<00:03, 18.29it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.34it/s]
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 90%|########9 | 449/500 [00:24<00:02, 18.37it/s]
 90%|######### | 451/500 [00:24<00:02, 18.42it/s]
 91%|######### | 453/500 [00:24<00:02, 18.44it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.51it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.26it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.36it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.37it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.51it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.50it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.54it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.58it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.58it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.63it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.61it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.63it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.58it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.60it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.54it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.55it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.47it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.47it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.54it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.45it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.29it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.37it/s]
100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 503
-{
-    "Log_Likelihood": 20.9384672164917,
-    "Loss": -20.9384672164917,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1991.005096139389,
-    "Time_Data_Loading": 0.023300464948018393,
-    "Time_Epoch": 0.45727904240290324,
-    "Time_Log_Info": 0.010177814960479736,
-    "Time_Process_Batch": 0.022144810358683268,
-    "Time_Train_Batch": 0.3983295996983846
-}
-
-Epoch 503 Memory Usage: 3317 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:04,  4.02it/s]
  1%|          | 3/500 [00:00<00:51,  9.61it/s]
  1%|1         | 5/500 [00:00<00:38, 12.78it/s]
  1%|1         | 7/500 [00:00<00:33, 14.90it/s]
  2%|1         | 9/500 [00:00<00:30, 16.14it/s]
  2%|2         | 11/500 [00:00<00:28, 16.95it/s]
  3%|2         | 13/500 [00:00<00:28, 17.39it/s]
  3%|3         | 15/500 [00:00<00:27, 17.85it/s]
  3%|3         | 17/500 [00:01<00:26, 17.97it/s]
  4%|3         | 19/500 [00:01<00:26, 18.32it/s]
  4%|4         | 21/500 [00:01<00:25, 18.52it/s]
  5%|4         | 23/500 [00:01<00:26, 18.06it/s]
  5%|5         | 25/500 [00:01<00:25, 18.35it/s]
  5%|5         | 27/500 [00:01<00:25, 18.27it/s]
  6%|5         | 29/500 [00:01<00:25, 18.15it/s]
  6%|6         | 31/500 [00:01<00:25, 18.32it/s]
  7%|6         | 33/500 [00:01<00:25, 18.26it/s]
  7%|7         | 35/500 [00:02<00:25, 18.28it/s]
  7%|7         | 37/500 [00:02<00:25, 18.37it/s]
  8%|7         | 39/500 [00:02<00:25, 18.36it/s]
  8%|8         | 41/500 [00:02<00:24, 18.40it/s]
  9%|8         | 43/500 [00:02<00:25, 18.25it/s]
  9%|9         | 45/500 [00:02<00:24, 18.28it/s]
  9%|9         | 47/500 [00:02<00:24, 18.41it/s]
 10%|9         | 49/500 [00:02<00:24, 18.40it/s]
 10%|#         | 51/500 [00:02<00:24, 18.58it/s]
 11%|#         | 53/500 [00:03<00:24, 18.59it/s]
 11%|#1        | 55/500 [00:03<00:23, 18.59it/s]
 11%|#1        | 57/500 [00:03<00:23, 18.61it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.62it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.41it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.52it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.48it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.59it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.59it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.55it/s]
 15%|#4        | 73/500 [00:04<00:22, 18.68it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.69it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.68it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.45it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.39it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.33it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.18it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.25it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.27it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.38it/s]
 19%|#8        | 93/500 [00:05<00:22, 18.40it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.50it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.49it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.48it/s]
 20%|##        | 101/500 [00:05<00:21, 18.52it/s]
 21%|##        | 103/500 [00:05<00:21, 18.36it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.23it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.27it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.36it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.45it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.51it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.57it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.43it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.58it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.71it/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 504
-{
-    "Log_Likelihood": 20.943269313812255,
-    "Loss": -20.943269313812255,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1984.7842170155914,
-    "Time_Data_Loading": 0.022852762540181478,
-    "Time_Epoch": 0.4566627303759257,
-    "Time_Log_Info": 0.010196415583292644,
-    "Time_Process_Batch": 0.02234969139099121,
-    "Time_Train_Batch": 0.39805352290471396
-}
-
-Epoch 504 Memory Usage: 3318 MB
-
-
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  0%|          | 1/500 [00:00<01:56,  4.29it/s]
  1%|          | 3/500 [00:00<00:49, 10.05it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.56it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 505
-{
-    "Log_Likelihood": 20.97497468185425,
-    "Loss": -20.97497468185425,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2041.8763335557394,
-    "Time_Data_Loading": 0.022639922300974526,
-    "Time_Epoch": 0.4560187021891276,
-    "Time_Log_Info": 0.010202860832214356,
-    "Time_Process_Batch": 0.022100810209910074,
-    "Time_Train_Batch": 0.39775823752085365
-}
-
-Epoch 505 Memory Usage: 3318 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 506
-{
-    "Log_Likelihood": 20.956084541320802,
-    "Loss": -20.956084541320802,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2177.467729406038,
-    "Time_Data_Loading": 0.022858877976735432,
-    "Time_Epoch": 0.45736683209737145,
-    "Time_Log_Info": 0.010159289836883545,
-    "Time_Process_Batch": 0.022511784235636392,
-    "Time_Train_Batch": 0.3985866109530131
-}
-
-Epoch 506 Memory Usage: 3318 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:54,  4.37it/s]
  1%|          | 3/500 [00:00<00:50,  9.84it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 507
-{
-    "Log_Likelihood": 20.95222915649414,
-    "Loss": -20.95222915649414,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1987.690336846527,
-    "Time_Data_Loading": 0.02255574067433675,
-    "Time_Epoch": 0.4568214694658915,
-    "Time_Log_Info": 0.01019829511642456,
-    "Time_Process_Batch": 0.022363781929016113,
-    "Time_Train_Batch": 0.3980777899424235
-}
-
-Epoch 507 Memory Usage: 3318 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.58it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 508
-{
-    "Log_Likelihood": 20.942106647491457,
-    "Loss": -20.942106647491457,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2004.8193040400329,
-    "Time_Data_Loading": 0.023652867476145426,
-    "Time_Epoch": 0.45731091499328613,
-    "Time_Log_Info": 0.010229321320851643,
-    "Time_Process_Batch": 0.02238577206929525,
-    "Time_Train_Batch": 0.3979785243670146
-}
-
-Epoch 508 Memory Usage: 3318 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 509
-{
-    "Log_Likelihood": 20.945934619903564,
-    "Loss": -20.945934619903564,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2097.4199817148456,
-    "Time_Data_Loading": 0.022921431064605712,
-    "Time_Epoch": 0.4562707463900248,
-    "Time_Log_Info": 0.010230942567189535,
-    "Time_Process_Batch": 0.022144587834676106,
-    "Time_Train_Batch": 0.39779850244522097
-}
-
-Epoch 509 Memory Usage: 3319 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 510
-{
-    "Log_Likelihood": 20.9729867477417,
-    "Loss": -20.9729867477417,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1998.0664599732977,
-    "Time_Data_Loading": 0.02316235303878784,
-    "Time_Epoch": 0.45701943238576254,
-    "Time_Log_Info": 0.010183425744374593,
-    "Time_Process_Batch": 0.02231616179148356,
-    "Time_Train_Batch": 0.39826693137486774
-}
-
-Epoch 510 Memory Usage: 3319 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 511
-{
-    "Log_Likelihood": 20.96426750946045,
-    "Loss": -20.96426750946045,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2187.9659293730983,
-    "Time_Data_Loading": 0.02337204615275065,
-    "Time_Epoch": 0.456965708732605,
-    "Time_Log_Info": 0.010220173994700115,
-    "Time_Process_Batch": 0.022414982318878174,
-    "Time_Train_Batch": 0.3976296623547872
-}
-
-Epoch 511 Memory Usage: 3321 MB
-
-
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  7%|6         | 33/500 [00:02<00:25, 18.55it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.55it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.54it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.55it/s]
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 14%|#3        | 69/500 [00:03<00:23, 18.50it/s]
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 16%|#6        | 81/500 [00:04<00:22, 18.58it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.64it/s]
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 17%|#7        | 87/500 [00:04<00:22, 18.67it/s]
 18%|#7        | 89/500 [00:05<00:21, 18.70it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.46it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.50it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.37it/s]
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 23%|##3       | 115/500 [00:06<00:20, 18.47it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.48it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.54it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.55it/s]
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 30%|###       | 151/500 [00:08<00:19, 18.28it/s]
 31%|###       | 153/500 [00:08<00:18, 18.30it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.34it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.44it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.56it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.37it/s]
 33%|###3      | 165/500 [00:09<00:17, 18.62it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.61it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.59it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.60it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.62it/s]
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 35%|###5      | 177/500 [00:09<00:17, 18.56it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.58it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.47it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.46it/s]
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 61%|######1   | 305/500 [00:16<00:10, 18.14it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.60it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.60it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.59it/s]
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 81%|########1 | 405/500 [00:22<00:05, 18.31it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.49it/s]
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 93%|#########3| 465/500 [00:25<00:01, 18.34it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.42it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.33it/s]
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 96%|#########5| 479/500 [00:26<00:01, 18.54it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.38it/s]
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 97%|#########7| 485/500 [00:26<00:00, 18.47it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.45it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.47it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.55it/s]
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 99%|#########9| 495/500 [00:26<00:00, 18.54it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.44it/s]
100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 512
-{
-    "Log_Likelihood": 20.986026100158693,
-    "Loss": -20.986026100158693,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2188.5930708900605,
-    "Time_Data_Loading": 0.023541080951690673,
-    "Time_Epoch": 0.45695610443751017,
-    "Time_Log_Info": 0.010216991106669107,
-    "Time_Process_Batch": 0.022315716743469237,
-    "Time_Train_Batch": 0.3976693391799927
-}
-
-Epoch 512 Memory Usage: 3321 MB
-
-
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  0%|          | 1/500 [00:00<02:11,  3.80it/s]
  1%|          | 3/500 [00:00<00:53,  9.31it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 513
-{
-    "Log_Likelihood": 20.987525928497316,
-    "Loss": -20.987525928497316,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2127.3644805114027,
-    "Time_Data_Loading": 0.02303300698598226,
-    "Time_Epoch": 0.4564350962638855,
-    "Time_Log_Info": 0.010209051767985027,
-    "Time_Process_Batch": 0.022286744912465413,
-    "Time_Train_Batch": 0.397805658976237
-}
-
-Epoch 513 Memory Usage: 3321 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.65it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 514
-{
-    "Log_Likelihood": 20.996899883270263,
-    "Loss": -20.996899883270263,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2042.7188247181411,
-    "Time_Data_Loading": 0.02287070353825887,
-    "Time_Epoch": 0.4562058250109355,
-    "Time_Log_Info": 0.01019367774327596,
-    "Time_Process_Batch": 0.0222145676612854,
-    "Time_Train_Batch": 0.3976396838823954
-}
-
-Epoch 514 Memory Usage: 3321 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 515
-{
-    "Log_Likelihood": 20.983904094696044,
-    "Loss": -20.983904094696044,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2201.9311554969754,
-    "Time_Data_Loading": 0.023444902896881104,
-    "Time_Epoch": 0.4565553744633993,
-    "Time_Log_Info": 0.010222776730855306,
-    "Time_Process_Batch": 0.022202102343241374,
-    "Time_Train_Batch": 0.3976051847139994
-}
-
-Epoch 515 Memory Usage: 3322 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 516
-{
-    "Log_Likelihood": 20.982922313690185,
-    "Loss": -20.982922313690185,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 1905.2708833916256,
-    "Time_Data_Loading": 0.023328951994578042,
-    "Time_Epoch": 0.4570727308591207,
-    "Time_Log_Info": 0.010196908315022787,
-    "Time_Process_Batch": 0.022524094581604003,
-    "Time_Train_Batch": 0.3977594017982483
-}
-
-Epoch 516 Memory Usage: 3322 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 517
-{
-    "Log_Likelihood": 21.02370344543457,
-    "Loss": -21.02370344543457,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2141.401403978138,
-    "Time_Data_Loading": 0.02376132011413574,
-    "Time_Epoch": 0.4571038007736206,
-    "Time_Log_Info": 0.010232102870941163,
-    "Time_Process_Batch": 0.022467954953511556,
-    "Time_Train_Batch": 0.3975260376930237
-}
-
-Epoch 517 Memory Usage: 3322 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 518
-{
-    "Log_Likelihood": 21.007173671722413,
-    "Loss": -21.007173671722413,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2050.099691753812,
-    "Time_Data_Loading": 0.023505369822184246,
-    "Time_Epoch": 0.45707849264144895,
-    "Time_Log_Info": 0.01022433837254842,
-    "Time_Process_Batch": 0.022321681181589764,
-    "Time_Train_Batch": 0.39760425488154094
-}
-
-Epoch 518 Memory Usage: 3322 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 519
-{
-    "Log_Likelihood": 20.98985601425171,
-    "Loss": -20.98985601425171,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2210.066699577921,
-    "Time_Data_Loading": 0.022846718629201252,
-    "Time_Epoch": 0.4565122326215108,
-    "Time_Log_Info": 0.010203043619791666,
-    "Time_Process_Batch": 0.022354233264923095,
-    "Time_Train_Batch": 0.3977653582890828
-}
-
-Epoch 519 Memory Usage: 3322 MB
-
-
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-Train Epoch 520
-{
-    "Log_Likelihood": 21.014105476379395,
-    "Loss": -21.014105476379395,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2035.9472558890711,
-    "Time_Data_Loading": 0.02309452692667643,
-    "Time_Epoch": 0.4560089389483134,
-    "Time_Log_Info": 0.010226786136627197,
-    "Time_Process_Batch": 0.02216416597366333,
-    "Time_Train_Batch": 0.39736529588699343
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_520.pth
-
-Epoch 520 Memory Usage: 3323 MB
-
-
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  1%|1         | 7/500 [00:00<00:32, 15.33it/s]
  2%|1         | 9/500 [00:00<00:29, 16.50it/s]
  2%|2         | 11/500 [00:00<00:28, 16.99it/s]
  3%|2         | 13/500 [00:00<00:27, 17.57it/s]
  3%|3         | 15/500 [00:00<00:27, 17.87it/s]
  3%|3         | 17/500 [00:01<00:26, 18.19it/s]
  4%|3         | 19/500 [00:01<00:26, 18.29it/s]
  4%|4         | 21/500 [00:01<00:25, 18.46it/s]
  5%|4         | 23/500 [00:01<00:25, 18.36it/s]
  5%|5         | 25/500 [00:01<00:25, 18.55it/s]
  5%|5         | 27/500 [00:01<00:25, 18.45it/s]
  6%|5         | 29/500 [00:01<00:25, 18.62it/s]
  6%|6         | 31/500 [00:01<00:25, 18.64it/s]
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 10%|9         | 49/500 [00:02<00:24, 18.51it/s]
 10%|#         | 51/500 [00:02<00:24, 18.36it/s]
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 11%|#1        | 55/500 [00:03<00:24, 18.37it/s]
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 12%|#2        | 61/500 [00:03<00:23, 18.44it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.46it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.55it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.58it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.57it/s]
 14%|#4        | 71/500 [00:03<00:23, 18.65it/s]
 15%|#4        | 73/500 [00:04<00:22, 18.65it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.62it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.58it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.58it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.42it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.48it/s]
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 17%|#7        | 87/500 [00:04<00:22, 18.57it/s]
 18%|#7        | 89/500 [00:04<00:22, 18.52it/s]
 18%|#8        | 91/500 [00:05<00:21, 18.63it/s]
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 20%|#9        | 99/500 [00:05<00:21, 18.52it/s]
 20%|##        | 101/500 [00:05<00:21, 18.54it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.63it/s]
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 22%|##1       | 109/500 [00:06<00:20, 18.62it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.62it/s]
 23%|##2       | 113/500 [00:06<00:21, 18.24it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.39it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.31it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.38it/s]
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 25%|##4       | 123/500 [00:06<00:20, 18.45it/s]
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 25%|##5       | 127/500 [00:07<00:20, 18.49it/s]
 26%|##5       | 129/500 [00:07<00:20, 18.46it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.52it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.48it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.54it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.41it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.59it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.55it/s]
 29%|##9       | 145/500 [00:07<00:19, 18.52it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.57it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.57it/s]
 30%|###       | 151/500 [00:08<00:18, 18.60it/s]
 31%|###       | 153/500 [00:08<00:18, 18.59it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.63it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.53it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.48it/s]
 33%|###2      | 163/500 [00:08<00:18, 18.53it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.49it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.56it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.56it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.59it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.42it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.47it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.48it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.50it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.49it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.42it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.54it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.60it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.57it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.59it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.62it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.56it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.48it/s]
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 92%|#########1| 459/500 [00:24<00:02, 18.66it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.60it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.58it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.64it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.53it/s]
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 96%|#########5| 479/500 [00:26<00:01, 18.62it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.67it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.70it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.61it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.71it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.61it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.65it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.38it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
-Train Epoch 521
-{
-    "Log_Likelihood": 21.02526091003418,
-    "Loss": -21.02526091003418,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2222.436960049106,
-    "Time_Data_Loading": 0.022087303797403972,
-    "Time_Epoch": 0.45501197973887125,
-    "Time_Log_Info": 0.010207343101501464,
-    "Time_Process_Batch": 0.022111817200978597,
-    "Time_Train_Batch": 0.3973956942558289
-}
-
-Epoch 521 Memory Usage: 3323 MB
-
-
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  0%|          | 1/500 [00:00<02:06,  3.94it/s]
  1%|          | 3/500 [00:00<00:52,  9.55it/s]
  1%|1         | 5/500 [00:00<00:39, 12.58it/s]
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  2%|1         | 9/500 [00:00<00:31, 15.62it/s]
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 13%|#3        | 65/500 [00:03<00:23, 18.48it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.46it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.40it/s]
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 50%|#####     | 251/500 [00:13<00:13, 18.52it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.55it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.57it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.42it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 522
-{
-    "Log_Likelihood": 21.021116813659667,
-    "Loss": -21.021116813659667,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2015.4707586182942,
-    "Time_Data_Loading": 0.023233501116434734,
-    "Time_Epoch": 0.4571951150894165,
-    "Time_Log_Info": 0.0101677139600118,
-    "Time_Process_Batch": 0.022581736246744793,
-    "Time_Train_Batch": 0.39806694189707437
-}
-
-Epoch 522 Memory Usage: 3323 MB
-
-
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  0%|          | 1/500 [00:00<02:16,  3.64it/s]
  1%|          | 3/500 [00:00<00:54,  9.09it/s]
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 51%|#####1    | 255/500 [00:14<00:13, 18.57it/s]
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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 523
-{
-    "Log_Likelihood": 21.013295349121094,
-    "Loss": -21.013295349121094,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2129.704769154102,
-    "Time_Data_Loading": 0.02341147263844808,
-    "Time_Epoch": 0.4569713592529297,
-    "Time_Log_Info": 0.010198489824930827,
-    "Time_Process_Batch": 0.022222713629404704,
-    "Time_Train_Batch": 0.39801204999287926
-}
-
-Epoch 523 Memory Usage: 3325 MB
-
-
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  0%|          | 1/500 [00:00<01:58,  4.20it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.51it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 524
-{
-    "Log_Likelihood": 21.040886276245118,
-    "Loss": -21.040886276245118,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2045.4013091636878,
-    "Time_Data_Loading": 0.022753413518269858,
-    "Time_Epoch": 0.45587528944015504,
-    "Time_Log_Info": 0.010226567586263021,
-    "Time_Process_Batch": 0.02213364044825236,
-    "Time_Train_Batch": 0.3975905458132426
-}
-
-Epoch 524 Memory Usage: 3325 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.22it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 525
-{
-    "Log_Likelihood": 21.01134001159668,
-    "Loss": -21.01134001159668,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2179.4224939693045,
-    "Time_Data_Loading": 0.02270681063334147,
-    "Time_Epoch": 0.4568767150243123,
-    "Time_Log_Info": 0.010217607021331787,
-    "Time_Process_Batch": 0.022447876135508218,
-    "Time_Train_Batch": 0.3978822390238444
-}
-
-Epoch 525 Memory Usage: 3325 MB
-
-
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  0%|          | 1/500 [00:00<02:11,  3.81it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.49it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 526
-{
-    "Log_Likelihood": 21.024803428649903,
-    "Loss": -21.024803428649903,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2301.838651841548,
-    "Time_Data_Loading": 0.023139524459838866,
-    "Time_Epoch": 0.45678618748982747,
-    "Time_Log_Info": 0.010224990049997966,
-    "Time_Process_Batch": 0.02217545509338379,
-    "Time_Train_Batch": 0.3977518479029338
-}
-
-Epoch 526 Memory Usage: 3325 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.35it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 527
-{
-    "Log_Likelihood": 21.028923431396485,
-    "Loss": -21.028923431396485,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2207.133231008853,
-    "Time_Data_Loading": 0.022798617680867512,
-    "Time_Epoch": 0.45615252256393435,
-    "Time_Log_Info": 0.01020434300104777,
-    "Time_Process_Batch": 0.02226807673772176,
-    "Time_Train_Batch": 0.39775644143422445
-}
-
-Epoch 527 Memory Usage: 3325 MB
-
-
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  0%|          | 1/500 [00:00<01:58,  4.20it/s]
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 88%|########8 | 441/500 [00:23<00:03, 18.60it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.58it/s]
 89%|########9 | 445/500 [00:24<00:02, 18.61it/s]
 89%|########9 | 447/500 [00:24<00:02, 18.53it/s]
 90%|########9 | 449/500 [00:24<00:02, 18.54it/s]
 90%|######### | 451/500 [00:24<00:02, 18.48it/s]
 91%|######### | 453/500 [00:24<00:02, 18.53it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.55it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.30it/s]
 92%|#########1| 459/500 [00:24<00:02, 18.43it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.56it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.54it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.57it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.61it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.60it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.64it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.60it/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 [00:26<00:01, 18.58it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.48it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.55it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.57it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.59it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.69it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.60it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.61it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.51it/s]
 99%|#########9| 497/500 [00:26<00:00, 18.62it/s]
100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
-Train Epoch 528
-{
-    "Log_Likelihood": 21.032635848999025,
-    "Loss": -21.032635848999025,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2213.6354748669914,
-    "Time_Data_Loading": 0.022485498587290445,
-    "Time_Epoch": 0.45508877833684286,
-    "Time_Log_Info": 0.01020873785018921,
-    "Time_Process_Batch": 0.021860766410827636,
-    "Time_Train_Batch": 0.3974916378657023
-}
-
-Epoch 528 Memory Usage: 3326 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:11,  3.78it/s]
  1%|          | 3/500 [00:00<00:56,  8.87it/s]
  1%|1         | 5/500 [00:00<00:40, 12.12it/s]
  1%|1         | 7/500 [00:00<00:34, 14.28it/s]
  2%|1         | 9/500 [00:00<00:31, 15.62it/s]
  2%|2         | 11/500 [00:00<00:29, 16.53it/s]
  3%|2         | 13/500 [00:00<00:28, 17.11it/s]
  3%|3         | 15/500 [00:01<00:27, 17.67it/s]
  3%|3         | 17/500 [00:01<00:26, 18.03it/s]
  4%|3         | 19/500 [00:01<00:26, 18.34it/s]
  4%|4         | 21/500 [00:01<00:26, 17.90it/s]
  5%|4         | 23/500 [00:01<00:26, 18.18it/s]
  5%|5         | 25/500 [00:01<00:26, 18.20it/s]
  5%|5         | 27/500 [00:01<00:25, 18.40it/s]
  6%|5         | 29/500 [00:01<00:25, 18.38it/s]
  6%|6         | 31/500 [00:01<00:25, 18.24it/s]
  7%|6         | 33/500 [00:02<00:25, 18.39it/s]
  7%|7         | 35/500 [00:02<00:25, 18.45it/s]
  7%|7         | 37/500 [00:02<00:24, 18.52it/s]
  8%|7         | 39/500 [00:02<00:24, 18.44it/s]
  8%|8         | 41/500 [00:02<00:24, 18.54it/s]
  9%|8         | 43/500 [00:02<00:24, 18.54it/s]
  9%|9         | 45/500 [00:02<00:24, 18.56it/s]
  9%|9         | 47/500 [00:02<00:24, 18.54it/s]
 10%|9         | 49/500 [00:02<00:24, 18.44it/s]
 10%|#         | 51/500 [00:02<00:24, 18.44it/s]
 11%|#         | 53/500 [00:03<00:24, 18.38it/s]
 11%|#1        | 55/500 [00:03<00:24, 18.23it/s]
 11%|#1        | 57/500 [00:03<00:24, 18.41it/s]
 12%|#1        | 59/500 [00:03<00:23, 18.45it/s]
 12%|#2        | 61/500 [00:03<00:23, 18.35it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.25it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.30it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.44it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.46it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.36it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.31it/s]
 15%|#5        | 75/500 [00:04<00:23, 18.41it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.47it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.54it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.61it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.34it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.40it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.46it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.39it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.42it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.52it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.57it/s]
 19%|#9        | 97/500 [00:05<00:21, 18.57it/s]
 20%|#9        | 99/500 [00:05<00:21, 18.54it/s]
 20%|##        | 101/500 [00:05<00:21, 18.54it/s]
 21%|##        | 103/500 [00:05<00:21, 18.44it/s]
 21%|##1       | 105/500 [00:05<00:21, 18.53it/s]
 21%|##1       | 107/500 [00:06<00:21, 18.55it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.53it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.56it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.57it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.44it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.56it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.58it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.57it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.45it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.47it/s]
 25%|##5       | 127/500 [00:07<00:20, 18.35it/s]
 26%|##5       | 129/500 [00:07<00:20, 18.43it/s]
 26%|##6       | 131/500 [00:07<00:20, 18.39it/s]
 27%|##6       | 133/500 [00:07<00:19, 18.54it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.47it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.42it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.43it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.36it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.46it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.48it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.49it/s]
 30%|##9       | 149/500 [00:08<00:18, 18.52it/s]
 30%|###       | 151/500 [00:08<00:18, 18.55it/s]
 31%|###       | 153/500 [00:08<00:18, 18.58it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.65it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.58it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.57it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.63it/s]
 33%|###2      | 163/500 [00:09<00:18, 18.66it/s]
 33%|###3      | 165/500 [00:09<00:17, 18.63it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.65it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.72it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.68it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.69it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.52it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.57it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.41it/s]
 36%|###6      | 181/500 [00:10<00:17, 18.27it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.41it/s]
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 37%|###7      | 187/500 [00:10<00:16, 18.51it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.58it/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, 18.54it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.58it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.55it/s]
 40%|####      | 201/500 [00:11<00:16, 18.49it/s]
 41%|####      | 203/500 [00:11<00:16, 18.51it/s]
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 41%|####1     | 207/500 [00:11<00:15, 18.43it/s]
 42%|####1     | 209/500 [00:11<00:15, 18.53it/s]
 42%|####2     | 211/500 [00:11<00:15, 18.53it/s]
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 43%|####3     | 217/500 [00:11<00:15, 18.44it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.51it/s]
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 45%|####5     | 225/500 [00:12<00:15, 18.32it/s]
 45%|####5     | 227/500 [00:12<00:14, 18.42it/s]
 46%|####5     | 229/500 [00:12<00:14, 18.44it/s]
 46%|####6     | 231/500 [00:12<00:14, 18.60it/s]
 47%|####6     | 233/500 [00:12<00:14, 18.47it/s]
 47%|####6     | 235/500 [00:12<00:14, 18.68it/s]
 47%|####7     | 237/500 [00:13<00:14, 18.62it/s]
 48%|####7     | 239/500 [00:13<00:13, 18.71it/s]
 48%|####8     | 241/500 [00:13<00:14, 18.49it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.58it/s]
 49%|####9     | 245/500 [00:13<00:13, 18.39it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.49it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.49it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.57it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.56it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.53it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.47it/s]
 52%|#####1    | 259/500 [00:14<00:13, 18.54it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.55it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.57it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.58it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.71it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.73it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.70it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.70it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.73it/s]
 55%|#####5    | 277/500 [00:15<00:11, 18.65it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.66it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.56it/s]
 57%|#####6    | 283/500 [00:15<00:11, 18.66it/s]
 57%|#####6    | 285/500 [00:15<00:11, 18.48it/s]
 57%|#####7    | 287/500 [00:15<00:11, 18.49it/s]
 58%|#####7    | 289/500 [00:15<00:11, 18.44it/s]
 58%|#####8    | 291/500 [00:15<00:11, 18.43it/s]
 59%|#####8    | 293/500 [00:16<00:11, 18.55it/s]
 59%|#####8    | 295/500 [00:16<00:11, 18.44it/s]
 59%|#####9    | 297/500 [00:16<00:11, 18.45it/s]
 60%|#####9    | 299/500 [00:16<00:10, 18.51it/s]
 60%|######    | 301/500 [00:16<00:10, 18.47it/s]
 61%|######    | 303/500 [00:16<00:10, 18.53it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.56it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.52it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.30it/s]
 62%|######2   | 311/500 [00:17<00:10, 18.33it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.35it/s]
 63%|######3   | 315/500 [00:17<00:10, 18.42it/s]
 63%|######3   | 317/500 [00:17<00:10, 18.26it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.34it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.41it/s]
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 65%|######5   | 325/500 [00:17<00:09, 18.27it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.14it/s]
 66%|######5   | 329/500 [00:18<00:09, 18.20it/s]
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 67%|######6   | 333/500 [00:18<00:09, 18.07it/s]
 67%|######7   | 335/500 [00:18<00:09, 18.22it/s]
 67%|######7   | 337/500 [00:18<00:08, 18.29it/s]
 68%|######7   | 339/500 [00:18<00:08, 18.40it/s]
 68%|######8   | 341/500 [00:18<00:08, 18.37it/s]
 69%|######8   | 343/500 [00:18<00:08, 18.61it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.42it/s]
 69%|######9   | 347/500 [00:18<00:08, 18.59it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.28it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.26it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.30it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.37it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.29it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.40it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.45it/s]
 73%|#######2  | 363/500 [00:19<00:07, 18.45it/s]
 73%|#######3  | 365/500 [00:19<00:07, 18.50it/s]
 73%|#######3  | 367/500 [00:20<00:07, 18.49it/s]
 74%|#######3  | 369/500 [00:20<00:07, 18.42it/s]
 74%|#######4  | 371/500 [00:20<00:07, 18.42it/s]
 75%|#######4  | 373/500 [00:20<00:06, 18.42it/s]
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 76%|#######5  | 379/500 [00:20<00:06, 18.54it/s]
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 77%|#######6  | 383/500 [00:20<00:06, 18.54it/s]
 77%|#######7  | 385/500 [00:21<00:06, 18.54it/s]
 77%|#######7  | 387/500 [00:21<00:06, 18.49it/s]
 78%|#######7  | 389/500 [00:21<00:06, 18.42it/s]
 78%|#######8  | 391/500 [00:21<00:05, 18.44it/s]
 79%|#######8  | 393/500 [00:21<00:05, 18.32it/s]
 79%|#######9  | 395/500 [00:21<00:05, 18.42it/s]
 79%|#######9  | 397/500 [00:21<00:05, 18.44it/s]
 80%|#######9  | 399/500 [00:21<00:05, 18.53it/s]
 80%|########  | 401/500 [00:21<00:05, 18.50it/s]
 81%|########  | 403/500 [00:22<00:05, 18.61it/s]
 81%|########1 | 405/500 [00:22<00:05, 18.55it/s]
 81%|########1 | 407/500 [00:22<00:04, 18.67it/s]
 82%|########1 | 409/500 [00:22<00:04, 18.60it/s]
 82%|########2 | 411/500 [00:22<00:04, 18.55it/s]
 83%|########2 | 413/500 [00:22<00:04, 18.58it/s]
 83%|########2 | 415/500 [00:22<00:04, 18.56it/s]
 83%|########3 | 417/500 [00:22<00:04, 18.49it/s]
 84%|########3 | 419/500 [00:22<00:04, 18.50it/s]
 84%|########4 | 421/500 [00:22<00:04, 18.58it/s]
 85%|########4 | 423/500 [00:23<00:04, 18.47it/s]
 85%|########5 | 425/500 [00:23<00:04, 18.48it/s]
 85%|########5 | 427/500 [00:23<00:03, 18.35it/s]
 86%|########5 | 429/500 [00:23<00:03, 18.09it/s]
 86%|########6 | 431/500 [00:23<00:03, 18.23it/s]
 87%|########6 | 433/500 [00:23<00:03, 18.27it/s]
 87%|########7 | 435/500 [00:23<00:03, 18.41it/s]
 87%|########7 | 437/500 [00:23<00:03, 18.43it/s]
 88%|########7 | 439/500 [00:23<00:03, 18.48it/s]
 88%|########8 | 441/500 [00:24<00:03, 18.46it/s]
 89%|########8 | 443/500 [00:24<00:03, 18.39it/s]
 89%|########9 | 445/500 [00:24<00:02, 18.42it/s]
 89%|########9 | 447/500 [00:24<00:02, 18.37it/s]
 90%|########9 | 449/500 [00:24<00:02, 18.39it/s]
 90%|######### | 451/500 [00:24<00:02, 18.49it/s]
 91%|######### | 453/500 [00:24<00:02, 18.41it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.54it/s]
 91%|#########1| 457/500 [00:24<00:02, 18.58it/s]
 92%|#########1| 459/500 [00:25<00:02, 18.60it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.55it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.64it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.67it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.54it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.66it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.52it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.65it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.54it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.60it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.49it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.48it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.44it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.32it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.45it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.26it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.33it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.31it/s]
 99%|#########9| 495/500 [00:27<00:00, 18.27it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.32it/s]
100%|#########9| 499/500 [00:27<00:00, 18.43it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 529
-{
-    "Log_Likelihood": 21.049634704589845,
-    "Loss": -21.049634704589845,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2182.7195785319227,
-    "Time_Data_Loading": 0.023577570915222168,
-    "Time_Epoch": 0.4574503779411316,
-    "Time_Log_Info": 0.01021105448404948,
-    "Time_Process_Batch": 0.022397943337758384,
-    "Time_Train_Batch": 0.398123820622762
-}
-
-Epoch 529 Memory Usage: 3326 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 530
-{
-    "Log_Likelihood": 21.013863872528077,
-    "Loss": -21.013863872528077,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2226.4894744456456,
-    "Time_Data_Loading": 0.022955989837646483,
-    "Time_Epoch": 0.4573976715405782,
-    "Time_Log_Info": 0.010186974207560222,
-    "Time_Process_Batch": 0.022672621409098308,
-    "Time_Train_Batch": 0.39829137722651164
-}
-
-Epoch 530 Memory Usage: 3327 MB
-
-
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 12%|#2        | 61/500 [00:03<00:23, 18.60it/s]
 13%|#2        | 63/500 [00:03<00:23, 18.55it/s]
 13%|#3        | 65/500 [00:03<00:23, 18.53it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.50it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.47it/s]
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 15%|#4        | 73/500 [00:04<00:23, 18.46it/s]
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 15%|#5        | 77/500 [00:04<00:22, 18.55it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.63it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.56it/s]
 17%|#6        | 83/500 [00:04<00:22, 18.65it/s]
 17%|#7        | 85/500 [00:04<00:22, 18.62it/s]
 17%|#7        | 87/500 [00:04<00:22, 18.63it/s]
 18%|#7        | 89/500 [00:05<00:22, 18.27it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.29it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.32it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.48it/s]
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 22%|##1       | 109/500 [00:06<00:21, 18.44it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.40it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.53it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.60it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.57it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.61it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.62it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.57it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.50it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.51it/s]
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 28%|##8       | 141/500 [00:07<00:19, 18.55it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.55it/s]
 29%|##9       | 145/500 [00:08<00:19, 18.56it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.52it/s]
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 30%|###       | 151/500 [00:08<00:18, 18.58it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.59it/s]
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 32%|###1      | 159/500 [00:08<00:18, 18.59it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.63it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.55it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.55it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.43it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.52it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.37it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.44it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.33it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.39it/s]
 36%|###6      | 181/500 [00:10<00:17, 18.46it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.46it/s]
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 37%|###7      | 187/500 [00:10<00:16, 18.55it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.49it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.53it/s]
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 40%|###9      | 199/500 [00:10<00:16, 18.48it/s]
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 48%|####7     | 239/500 [00:13<00:14, 18.32it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.47it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.46it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.55it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.59it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.55it/s]
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 52%|#####2    | 261/500 [00:14<00:12, 18.50it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.52it/s]
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 54%|#####3    | 269/500 [00:14<00:12, 18.35it/s]
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 61%|######1   | 307/500 [00:16<00:10, 18.45it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.51it/s]
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 63%|######2   | 313/500 [00:17<00:10, 18.39it/s]
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 63%|######3   | 317/500 [00:17<00:09, 18.56it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.52it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.40it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.33it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.42it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.48it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.33it/s]
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 91%|#########1| 455/500 [00:24<00:02, 18.54it/s]
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 93%|#########2| 463/500 [00:25<00:02, 18.42it/s]
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 93%|#########3| 467/500 [00:25<00:01, 18.42it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.42it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.53it/s]
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 95%|#########5| 477/500 [00:26<00:01, 18.51it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.58it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.53it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.40it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.34it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.23it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.21it/s]
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 99%|#########9| 495/500 [00:27<00:00, 18.15it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.44it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 531
-{
-    "Log_Likelihood": 21.014810962677004,
-    "Loss": -21.014810962677004,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2033.2384377937785,
-    "Time_Data_Loading": 0.023386899630228677,
-    "Time_Epoch": 0.4576616644859314,
-    "Time_Log_Info": 0.010211376349131267,
-    "Time_Process_Batch": 0.022579439481099448,
-    "Time_Train_Batch": 0.39816808303197226
-}
-
-Epoch 531 Memory Usage: 3327 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:20,  3.56it/s]
  1%|          | 3/500 [00:00<00:55,  8.92it/s]
  1%|1         | 5/500 [00:00<00:40, 12.16it/s]
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  3%|2         | 13/500 [00:00<00:29, 16.53it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 532
-{
-    "Log_Likelihood": 21.02231572341919,
-    "Loss": -21.02231572341919,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2176.8510864749987,
-    "Time_Data_Loading": 0.02361987034479777,
-    "Time_Epoch": 0.457223641872406,
-    "Time_Log_Info": 0.010209774971008301,
-    "Time_Process_Batch": 0.022426958878835043,
-    "Time_Train_Batch": 0.3978219946225484
-}
-
-Epoch 532 Memory Usage: 3327 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 533
-{
-    "Log_Likelihood": 21.034523880004883,
-    "Loss": -21.034523880004883,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2182.623584859868,
-    "Time_Data_Loading": 0.02313222090403239,
-    "Time_Epoch": 0.4563645402590434,
-    "Time_Log_Info": 0.010210033257802327,
-    "Time_Process_Batch": 0.022197453180948894,
-    "Time_Train_Batch": 0.39752771854400637
-}
-
-Epoch 533 Memory Usage: 3327 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 534
-{
-    "Log_Likelihood": 21.049240062713622,
-    "Loss": -21.049240062713622,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2096.1627935350443,
-    "Time_Data_Loading": 0.023645071188608806,
-    "Time_Epoch": 0.4577803452809652,
-    "Time_Log_Info": 0.010169084866841633,
-    "Time_Process_Batch": 0.022519425551096598,
-    "Time_Train_Batch": 0.39831932783126833
-}
-
-Epoch 534 Memory Usage: 3328 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.17it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 535
-{
-    "Log_Likelihood": 21.04073141860962,
-    "Loss": -21.04073141860962,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2240.148312034688,
-    "Time_Data_Loading": 0.02243884801864624,
-    "Time_Epoch": 0.4562261422475179,
-    "Time_Log_Info": 0.010199018319447835,
-    "Time_Process_Batch": 0.02240920066833496,
-    "Time_Train_Batch": 0.3980426788330078
-}
-
-Epoch 535 Memory Usage: 3328 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:02,  4.08it/s]
  1%|          | 3/500 [00:00<00:51,  9.72it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.34it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 536
-{
-    "Log_Likelihood": 21.065419593811036,
-    "Loss": -21.065419593811036,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2347.806832879768,
-    "Time_Data_Loading": 0.022746793429056802,
-    "Time_Epoch": 0.45702463388442993,
-    "Time_Log_Info": 0.010194222132364908,
-    "Time_Process_Batch": 0.02254669666290283,
-    "Time_Train_Batch": 0.39840610027313234
-}
-
-Epoch 536 Memory Usage: 3328 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.47it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 537
-{
-    "Log_Likelihood": 21.062637371063232,
-    "Loss": -21.062637371063232,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2160.208953848026,
-    "Time_Data_Loading": 0.023367929458618163,
-    "Time_Epoch": 0.4571322798728943,
-    "Time_Log_Info": 0.010203377405802409,
-    "Time_Process_Batch": 0.022342447439829508,
-    "Time_Train_Batch": 0.39811962048212685
-}
-
-Epoch 537 Memory Usage: 3329 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 538
-{
-    "Log_Likelihood": 21.095602802276613,
-    "Loss": -21.095602802276613,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2231.12895032145,
-    "Time_Data_Loading": 0.022921947638193767,
-    "Time_Epoch": 0.45638840993245444,
-    "Time_Log_Info": 0.010198787848154704,
-    "Time_Process_Batch": 0.02253357966740926,
-    "Time_Train_Batch": 0.3975562493006388
-}
-
-Epoch 538 Memory Usage: 3328 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 539
-{
-    "Log_Likelihood": 21.033196311950682,
-    "Loss": -21.033196311950682,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2386.6037483833393,
-    "Time_Data_Loading": 0.02273608446121216,
-    "Time_Epoch": 0.45633047024408974,
-    "Time_Log_Info": 0.010238293806711833,
-    "Time_Process_Batch": 0.022144810358683268,
-    "Time_Train_Batch": 0.3979957421620687
-}
-
-Epoch 539 Memory Usage: 3330 MB
-
-
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-Train Epoch 540
-{
-    "Log_Likelihood": 21.041953365325927,
-    "Loss": -21.041953365325927,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2116.42364729319,
-    "Time_Data_Loading": 0.022721028327941893,
-    "Time_Epoch": 0.4559679826100667,
-    "Time_Log_Info": 0.010209246476491293,
-    "Time_Process_Batch": 0.02193002700805664,
-    "Time_Train_Batch": 0.3980367143948873
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_540.pth
-
-Epoch 540 Memory Usage: 3330 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 541
-{
-    "Log_Likelihood": 21.059632011413573,
-    "Loss": -21.059632011413573,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2235.430144266907,
-    "Time_Data_Loading": 0.02366639773050944,
-    "Time_Epoch": 0.4567969083786011,
-    "Time_Log_Info": 0.010221493244171143,
-    "Time_Process_Batch": 0.0222152312596639,
-    "Time_Train_Batch": 0.3975449999173482
-}
-
-Epoch 541 Memory Usage: 3331 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.53it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 542
-{
-    "Log_Likelihood": 21.043840530395507,
-    "Loss": -21.043840530395507,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2236.2360677104643,
-    "Time_Data_Loading": 0.02387701670328776,
-    "Time_Epoch": 0.45750712156295775,
-    "Time_Log_Info": 0.01021436055501302,
-    "Time_Process_Batch": 0.022470800081888835,
-    "Time_Train_Batch": 0.39770668347676597
-}
-
-Epoch 542 Memory Usage: 3331 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 543
-{
-    "Log_Likelihood": 21.077943168640136,
-    "Loss": -21.077943168640136,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2221.03282013037,
-    "Time_Data_Loading": 0.02298472325007121,
-    "Time_Epoch": 0.4567634105682373,
-    "Time_Log_Info": 0.010196431477864584,
-    "Time_Process_Batch": 0.022408103942871092,
-    "Time_Train_Batch": 0.39788829485575355
-}
-
-Epoch 543 Memory Usage: 3331 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.39it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 544
-{
-    "Log_Likelihood": 21.0811886138916,
-    "Loss": -21.0811886138916,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2127.1219442106585,
-    "Time_Data_Loading": 0.023032240072886147,
-    "Time_Epoch": 0.45673804680506386,
-    "Time_Log_Info": 0.010200647513071696,
-    "Time_Process_Batch": 0.022374844551086424,
-    "Time_Train_Batch": 0.3978451728820801
-}
-
-Epoch 544 Memory Usage: 3331 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 545
-{
-    "Log_Likelihood": 21.07961055755615,
-    "Loss": -21.07961055755615,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2205.428265110558,
-    "Time_Data_Loading": 0.023253440856933594,
-    "Time_Epoch": 0.4566946585973104,
-    "Time_Log_Info": 0.010189461708068847,
-    "Time_Process_Batch": 0.022462924321492512,
-    "Time_Train_Batch": 0.3976751605669657
-}
-
-Epoch 545 Memory Usage: 3332 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.60it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 546
-{
-    "Log_Likelihood": 21.073803981781005,
-    "Loss": -21.073803981781005,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2266.756936345703,
-    "Time_Data_Loading": 0.02292919158935547,
-    "Time_Epoch": 0.4560047189394633,
-    "Time_Log_Info": 0.010207184155782064,
-    "Time_Process_Batch": 0.022149248917897543,
-    "Time_Train_Batch": 0.39742478132247927
-}
-
-Epoch 546 Memory Usage: 3332 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.52it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 547
-{
-    "Log_Likelihood": 21.107912311553957,
-    "Loss": -21.107912311553957,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2413.2772996917415,
-    "Time_Data_Loading": 0.023136587937672932,
-    "Time_Epoch": 0.45712016026179,
-    "Time_Log_Info": 0.010201716423034668,
-    "Time_Process_Batch": 0.022509185473124187,
-    "Time_Train_Batch": 0.3981199065844218
-}
-
-Epoch 547 Memory Usage: 3333 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:41,  4.91it/s]
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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 548
-{
-    "Log_Likelihood": 21.103416633605956,
-    "Loss": -21.103416633605956,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2221.36212582658,
-    "Time_Data_Loading": 0.02252618471781413,
-    "Time_Epoch": 0.45561947822570803,
-    "Time_Log_Info": 0.010184268156687418,
-    "Time_Process_Batch": 0.022257133324941,
-    "Time_Train_Batch": 0.3974118113517761
-}
-
-Epoch 548 Memory Usage: 3333 MB
-
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-Train Epoch 549
-{
-    "Log_Likelihood": 21.111915843963622,
-    "Loss": -21.111915843963622,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2188.312732782402,
-    "Time_Data_Loading": 0.023127440611521402,
-    "Time_Epoch": 0.4563171625137329,
-    "Time_Log_Info": 0.010220015048980713,
-    "Time_Process_Batch": 0.02224834362665812,
-    "Time_Train_Batch": 0.39756642977396645
-}
-
-Epoch 549 Memory Usage: 3333 MB
-
-
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 13%|#3        | 65/500 [00:03<00:23, 18.28it/s]
 13%|#3        | 67/500 [00:03<00:23, 18.35it/s]
 14%|#3        | 69/500 [00:03<00:23, 18.44it/s]
 14%|#4        | 71/500 [00:04<00:23, 18.45it/s]
 15%|#4        | 73/500 [00:04<00:23, 18.49it/s]
 15%|#5        | 75/500 [00:04<00:22, 18.62it/s]
 15%|#5        | 77/500 [00:04<00:22, 18.58it/s]
 16%|#5        | 79/500 [00:04<00:22, 18.64it/s]
 16%|#6        | 81/500 [00:04<00:22, 18.53it/s]
 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, 18.61it/s]
 18%|#7        | 89/500 [00:04<00:22, 18.55it/s]
 18%|#8        | 91/500 [00:05<00:22, 18.57it/s]
 19%|#8        | 93/500 [00:05<00:21, 18.57it/s]
 19%|#9        | 95/500 [00:05<00:21, 18.59it/s]
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 20%|#9        | 99/500 [00:05<00:21, 18.52it/s]
 20%|##        | 101/500 [00:05<00:21, 18.61it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.62it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.61it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.61it/s]
 22%|##2       | 111/500 [00:06<00:21, 18.47it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.51it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.60it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.55it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.48it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.54it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.66it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.64it/s]
 25%|##5       | 127/500 [00:07<00:19, 18.68it/s]
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 27%|##6       | 133/500 [00:07<00:19, 18.71it/s]
 27%|##7       | 135/500 [00:07<00:19, 18.69it/s]
 27%|##7       | 137/500 [00:07<00:19, 18.68it/s]
 28%|##7       | 139/500 [00:07<00:19, 18.59it/s]
 28%|##8       | 141/500 [00:07<00:19, 18.63it/s]
 29%|##8       | 143/500 [00:07<00:19, 18.62it/s]
 29%|##9       | 145/500 [00:07<00:19, 18.40it/s]
 29%|##9       | 147/500 [00:08<00:19, 18.36it/s]
 30%|##9       | 149/500 [00:08<00:19, 18.40it/s]
 30%|###       | 151/500 [00:08<00:18, 18.40it/s]
 31%|###       | 153/500 [00:08<00:18, 18.33it/s]
 31%|###1      | 155/500 [00:08<00:18, 18.34it/s]
 31%|###1      | 157/500 [00:08<00:18, 18.34it/s]
 32%|###1      | 159/500 [00:08<00:18, 18.38it/s]
 32%|###2      | 161/500 [00:08<00:18, 18.50it/s]
 33%|###2      | 163/500 [00:08<00:18, 18.50it/s]
 33%|###3      | 165/500 [00:09<00:18, 18.57it/s]
 33%|###3      | 167/500 [00:09<00:17, 18.57it/s]
 34%|###3      | 169/500 [00:09<00:17, 18.50it/s]
 34%|###4      | 171/500 [00:09<00:17, 18.51it/s]
 35%|###4      | 173/500 [00:09<00:17, 18.46it/s]
 35%|###5      | 175/500 [00:09<00:17, 18.48it/s]
 35%|###5      | 177/500 [00:09<00:17, 18.32it/s]
 36%|###5      | 179/500 [00:09<00:17, 18.25it/s]
 36%|###6      | 181/500 [00:09<00:17, 18.38it/s]
 37%|###6      | 183/500 [00:10<00:17, 18.38it/s]
 37%|###7      | 185/500 [00:10<00:17, 18.47it/s]
 37%|###7      | 187/500 [00:10<00:16, 18.50it/s]
 38%|###7      | 189/500 [00:10<00:16, 18.52it/s]
 38%|###8      | 191/500 [00:10<00:16, 18.42it/s]
 39%|###8      | 193/500 [00:10<00:16, 18.54it/s]
 39%|###9      | 195/500 [00:10<00:16, 18.52it/s]
 39%|###9      | 197/500 [00:10<00:16, 18.56it/s]
 40%|###9      | 199/500 [00:10<00:16, 18.55it/s]
 40%|####      | 201/500 [00:11<00:16, 18.59it/s]
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 41%|####1     | 207/500 [00:11<00:15, 18.39it/s]
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 43%|####2     | 213/500 [00:11<00:15, 18.55it/s]
 43%|####3     | 215/500 [00:11<00:15, 18.54it/s]
 43%|####3     | 217/500 [00:11<00:15, 18.54it/s]
 44%|####3     | 219/500 [00:12<00:15, 18.42it/s]
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 45%|####4     | 223/500 [00:12<00:15, 18.25it/s]
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 47%|####6     | 233/500 [00:12<00:14, 18.33it/s]
 47%|####6     | 235/500 [00:12<00:14, 18.26it/s]
 47%|####7     | 237/500 [00:12<00:14, 18.28it/s]
 48%|####7     | 239/500 [00:13<00:14, 18.37it/s]
 48%|####8     | 241/500 [00:13<00:14, 18.36it/s]
 49%|####8     | 243/500 [00:13<00:13, 18.43it/s]
 49%|####9     | 245/500 [00:13<00:13, 18.26it/s]
 49%|####9     | 247/500 [00:13<00:13, 18.16it/s]
 50%|####9     | 249/500 [00:13<00:13, 18.26it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.38it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.23it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.35it/s]
 51%|#####1    | 257/500 [00:14<00:13, 18.44it/s]
 52%|#####1    | 259/500 [00:14<00:12, 18.56it/s]
 52%|#####2    | 261/500 [00:14<00:12, 18.57it/s]
 53%|#####2    | 263/500 [00:14<00:12, 18.59it/s]
 53%|#####3    | 265/500 [00:14<00:12, 18.42it/s]
 53%|#####3    | 267/500 [00:14<00:12, 18.49it/s]
 54%|#####3    | 269/500 [00:14<00:12, 18.34it/s]
 54%|#####4    | 271/500 [00:14<00:12, 18.46it/s]
 55%|#####4    | 273/500 [00:14<00:12, 18.46it/s]
 55%|#####5    | 275/500 [00:15<00:12, 18.56it/s]
 55%|#####5    | 277/500 [00:15<00:12, 18.56it/s]
 56%|#####5    | 279/500 [00:15<00:11, 18.65it/s]
 56%|#####6    | 281/500 [00:15<00:11, 18.48it/s]
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 58%|#####7    | 289/500 [00:15<00:11, 18.46it/s]
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 59%|#####8    | 295/500 [00:16<00:10, 18.67it/s]
 59%|#####9    | 297/500 [00:16<00:10, 18.51it/s]
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 60%|######    | 301/500 [00:16<00:10, 18.51it/s]
 61%|######    | 303/500 [00:16<00:10, 18.53it/s]
 61%|######1   | 305/500 [00:16<00:10, 18.55it/s]
 61%|######1   | 307/500 [00:16<00:10, 18.51it/s]
 62%|######1   | 309/500 [00:16<00:10, 18.51it/s]
 62%|######2   | 311/500 [00:16<00:10, 18.48it/s]
 63%|######2   | 313/500 [00:17<00:10, 18.36it/s]
 63%|######3   | 315/500 [00:17<00:09, 18.51it/s]
 63%|######3   | 317/500 [00:17<00:09, 18.55it/s]
 64%|######3   | 319/500 [00:17<00:09, 18.51it/s]
 64%|######4   | 321/500 [00:17<00:09, 18.52it/s]
 65%|######4   | 323/500 [00:17<00:09, 18.49it/s]
 65%|######5   | 325/500 [00:17<00:09, 18.54it/s]
 65%|######5   | 327/500 [00:17<00:09, 18.50it/s]
 66%|######5   | 329/500 [00:17<00:09, 18.41it/s]
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 67%|######6   | 333/500 [00:18<00:09, 18.27it/s]
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 67%|######7   | 337/500 [00:18<00:08, 18.34it/s]
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 69%|######8   | 343/500 [00:18<00:08, 18.43it/s]
 69%|######9   | 345/500 [00:18<00:08, 18.33it/s]
 69%|######9   | 347/500 [00:18<00:08, 18.38it/s]
 70%|######9   | 349/500 [00:19<00:08, 18.35it/s]
 70%|#######   | 351/500 [00:19<00:08, 18.44it/s]
 71%|#######   | 353/500 [00:19<00:08, 18.34it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.37it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.39it/s]
 72%|#######1  | 359/500 [00:19<00:07, 18.50it/s]
 72%|#######2  | 361/500 [00:19<00:07, 18.44it/s]
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 80%|########  | 401/500 [00:21<00:05, 18.60it/s]
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 81%|########1 | 405/500 [00:22<00:05, 18.40it/s]
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 87%|########7 | 435/500 [00:23<00:03, 18.23it/s]
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 88%|########8 | 441/500 [00:24<00:03, 18.09it/s]
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 90%|######### | 451/500 [00:24<00:02, 18.39it/s]
 91%|######### | 453/500 [00:24<00:02, 18.47it/s]
 91%|#########1| 455/500 [00:24<00:02, 18.50it/s]
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 92%|#########1| 459/500 [00:25<00:02, 18.53it/s]
 92%|#########2| 461/500 [00:25<00:02, 18.54it/s]
 93%|#########2| 463/500 [00:25<00:01, 18.51it/s]
 93%|#########3| 465/500 [00:25<00:01, 18.50it/s]
 93%|#########3| 467/500 [00:25<00:01, 18.58it/s]
 94%|#########3| 469/500 [00:25<00:01, 18.63it/s]
 94%|#########4| 471/500 [00:25<00:01, 18.50it/s]
 95%|#########4| 473/500 [00:25<00:01, 18.53it/s]
 95%|#########5| 475/500 [00:25<00:01, 18.35it/s]
 95%|#########5| 477/500 [00:26<00:01, 18.47it/s]
 96%|#########5| 479/500 [00:26<00:01, 18.38it/s]
 96%|#########6| 481/500 [00:26<00:01, 18.45it/s]
 97%|#########6| 483/500 [00:26<00:00, 18.54it/s]
 97%|#########7| 485/500 [00:26<00:00, 18.61it/s]
 97%|#########7| 487/500 [00:26<00:00, 18.72it/s]
 98%|#########7| 489/500 [00:26<00:00, 18.68it/s]
 98%|#########8| 491/500 [00:26<00:00, 18.73it/s]
 99%|#########8| 493/500 [00:26<00:00, 18.75it/s]
 99%|#########9| 495/500 [00:26<00:00, 18.65it/s]
 99%|#########9| 497/500 [00:27<00:00, 18.63it/s]
100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 550
-{
-    "Log_Likelihood": 21.109705963134765,
-    "Loss": -21.109705963134765,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2265.6631657181347,
-    "Time_Data_Loading": 0.022975953420003255,
-    "Time_Epoch": 0.45652679999669393,
-    "Time_Log_Info": 0.01022243897120158,
-    "Time_Process_Batch": 0.02246315081914266,
-    "Time_Train_Batch": 0.39770939747492473
-}
-
-Epoch 550 Memory Usage: 3334 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:59,  4.18it/s]
  1%|          | 3/500 [00:00<00:50,  9.81it/s]
  1%|1         | 5/500 [00:00<00:38, 12.95it/s]
  1%|1         | 7/500 [00:00<00:33, 14.89it/s]
  2%|1         | 9/500 [00:00<00:30, 15.98it/s]
  2%|2         | 11/500 [00:00<00:29, 16.85it/s]
  3%|2         | 13/500 [00:00<00:27, 17.41it/s]
  3%|3         | 15/500 [00:00<00:27, 17.79it/s]
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  4%|3         | 19/500 [00:01<00:26, 18.45it/s]
  4%|4         | 21/500 [00:01<00:26, 18.29it/s]
  5%|4         | 23/500 [00:01<00:25, 18.56it/s]
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  6%|5         | 29/500 [00:01<00:25, 18.34it/s]
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  7%|6         | 33/500 [00:01<00:25, 18.63it/s]
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 11%|#1        | 55/500 [00:03<00:23, 18.65it/s]
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 20%|##        | 101/500 [00:05<00:21, 18.41it/s]
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 21%|##1       | 105/500 [00:05<00:21, 18.43it/s]
 21%|##1       | 107/500 [00:05<00:21, 18.47it/s]
 22%|##1       | 109/500 [00:06<00:21, 18.43it/s]
 22%|##2       | 111/500 [00:06<00:20, 18.54it/s]
 23%|##2       | 113/500 [00:06<00:20, 18.56it/s]
 23%|##3       | 115/500 [00:06<00:20, 18.54it/s]
 23%|##3       | 117/500 [00:06<00:20, 18.50it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.62it/s]
 24%|##4       | 121/500 [00:06<00:20, 18.65it/s]
 25%|##4       | 123/500 [00:06<00:20, 18.43it/s]
 25%|##5       | 125/500 [00:06<00:20, 18.46it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 551
-{
-    "Log_Likelihood": 21.1108797416687,
-    "Loss": -21.1108797416687,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2217.3590651243367,
-    "Time_Data_Loading": 0.02232182820638021,
-    "Time_Epoch": 0.45592832565307617,
-    "Time_Log_Info": 0.010184542338053385,
-    "Time_Process_Batch": 0.0221819798151652,
-    "Time_Train_Batch": 0.3980736374855042
-}
-
-Epoch 551 Memory Usage: 3335 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.50it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 552
-{
-    "Log_Likelihood": 21.108550228118897,
-    "Loss": -21.108550228118897,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2254.7739161585273,
-    "Time_Data_Loading": 0.023033201694488525,
-    "Time_Epoch": 0.45603195428848264,
-    "Time_Log_Info": 0.010217392444610595,
-    "Time_Process_Batch": 0.02233955462773641,
-    "Time_Train_Batch": 0.3973213791847229
-}
-
-Epoch 552 Memory Usage: 3335 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.64it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 553
-{
-    "Log_Likelihood": 21.100847106933593,
-    "Loss": -21.100847106933593,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2113.017573323339,
-    "Time_Data_Loading": 0.023128867149353027,
-    "Time_Epoch": 0.4567434708277384,
-    "Time_Log_Info": 0.010192851225535074,
-    "Time_Process_Batch": 0.022324355443318684,
-    "Time_Train_Batch": 0.397861655553182
-}
-
-Epoch 553 Memory Usage: 3334 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:51,  4.46it/s]
  1%|          | 3/500 [00:00<00:49,  9.97it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.55it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 554
-{
-    "Log_Likelihood": 21.113989448547365,
-    "Loss": -21.113989448547365,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2470.944786927825,
-    "Time_Data_Loading": 0.02313727537790934,
-    "Time_Epoch": 0.4563333034515381,
-    "Time_Log_Info": 0.010198613007863363,
-    "Time_Process_Batch": 0.02221238613128662,
-    "Time_Train_Batch": 0.3977168162663778
-}
-
-Epoch 554 Memory Usage: 3335 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 555
-{
-    "Log_Likelihood": 21.108154773712158,
-    "Loss": -21.108154773712158,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2188.3362927732746,
-    "Time_Data_Loading": 0.022745172182718914,
-    "Time_Epoch": 0.4565343459447225,
-    "Time_Log_Info": 0.010205606619517008,
-    "Time_Process_Batch": 0.02231882413228353,
-    "Time_Train_Batch": 0.39818863073984784
-}
-
-Epoch 555 Memory Usage: 3335 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:23,  3.48it/s]
  1%|          | 3/500 [00:00<00:56,  8.79it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 556
-{
-    "Log_Likelihood": 21.114243144989015,
-    "Loss": -21.114243144989015,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2307.3586059993495,
-    "Time_Data_Loading": 0.0239020307858785,
-    "Time_Epoch": 0.4574870268503825,
-    "Time_Log_Info": 0.010203516483306885,
-    "Time_Process_Batch": 0.022535872459411622,
-    "Time_Train_Batch": 0.39762784242630006
-}
-
-Epoch 556 Memory Usage: 3335 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 557
-{
-    "Log_Likelihood": 21.157097831726073,
-    "Loss": -21.157097831726073,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2340.2379415076966,
-    "Time_Data_Loading": 0.02259440819422404,
-    "Time_Epoch": 0.4558875560760498,
-    "Time_Log_Info": 0.010223050912221273,
-    "Time_Process_Batch": 0.022159314155578612,
-    "Time_Train_Batch": 0.397663958867391
-}
-
-Epoch 557 Memory Usage: 3336 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 558
-{
-    "Log_Likelihood": 21.14468030166626,
-    "Loss": -21.14468030166626,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2422.0813811903868,
-    "Time_Data_Loading": 0.023068567117055256,
-    "Time_Epoch": 0.4573008219401042,
-    "Time_Log_Info": 0.010194683074951172,
-    "Time_Process_Batch": 0.02281644344329834,
-    "Time_Train_Batch": 0.3979907393455505
-}
-
-Epoch 558 Memory Usage: 3337 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.34it/s]
-Train Epoch 559
-{
-    "Log_Likelihood": 21.149145839691162,
-    "Loss": -21.149145839691162,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2306.024726709045,
-    "Time_Data_Loading": 0.022986555099487306,
-    "Time_Epoch": 0.4570460398991903,
-    "Time_Log_Info": 0.010204068819681804,
-    "Time_Process_Batch": 0.022673213481903078,
-    "Time_Train_Batch": 0.3978577216466268
-}
-
-Epoch 559 Memory Usage: 3337 MB
-
-
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-Train Epoch 560
-{
-    "Log_Likelihood": 21.12006837463379,
-    "Loss": -21.12006837463379,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2345.8821102290453,
-    "Time_Data_Loading": 0.02303077777226766,
-    "Time_Epoch": 0.4563520868619283,
-    "Time_Log_Info": 0.010189362366994222,
-    "Time_Process_Batch": 0.02211589813232422,
-    "Time_Train_Batch": 0.39774481852849325
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_560.pth
-
-Epoch 560 Memory Usage: 3338 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 561
-{
-    "Log_Likelihood": 21.111385749816893,
-    "Loss": -21.111385749816893,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2272.0131173586096,
-    "Time_Data_Loading": 0.022184069951375326,
-    "Time_Epoch": 0.45598313411076863,
-    "Time_Log_Info": 0.01019646724065145,
-    "Time_Process_Batch": 0.022336534659067788,
-    "Time_Train_Batch": 0.39802841742833456
-}
-
-Epoch 561 Memory Usage: 3339 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.63it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 562
-{
-    "Log_Likelihood": 21.103373474121092,
-    "Loss": -21.103373474121092,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2232.775397274629,
-    "Time_Data_Loading": 0.02233074903488159,
-    "Time_Epoch": 0.45575076738993325,
-    "Time_Log_Info": 0.010198593139648438,
-    "Time_Process_Batch": 0.022234233220418294,
-    "Time_Train_Batch": 0.39782806634902956
-}
-
-Epoch 562 Memory Usage: 3339 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.37it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
-Train Epoch 563
-{
-    "Log_Likelihood": 21.142290588378906,
-    "Loss": -21.142290588378906,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2293.246168191167,
-    "Time_Data_Loading": 0.022332918643951417,
-    "Time_Epoch": 0.4553989132245382,
-    "Time_Log_Info": 0.010210545857747395,
-    "Time_Process_Batch": 0.022019612789154052,
-    "Time_Train_Batch": 0.3975851058959961
-}
-
-Epoch 563 Memory Usage: 3340 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.40it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 564
-{
-    "Log_Likelihood": 21.143944271087648,
-    "Loss": -21.143944271087648,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2219.7119934158754,
-    "Time_Data_Loading": 0.02324901024500529,
-    "Time_Epoch": 0.45675366719563804,
-    "Time_Log_Info": 0.01020201841990153,
-    "Time_Process_Batch": 0.02234883705774943,
-    "Time_Train_Batch": 0.39775630235672
-}
-
-Epoch 564 Memory Usage: 3340 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 565
-{
-    "Log_Likelihood": 21.165120639801025,
-    "Loss": -21.165120639801025,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2353.191693108942,
-    "Time_Data_Loading": 0.02273267904917399,
-    "Time_Epoch": 0.4564305623372396,
-    "Time_Log_Info": 0.01021354595820109,
-    "Time_Process_Batch": 0.022302416960398357,
-    "Time_Train_Batch": 0.39787914355595905
-}
-
-Epoch 565 Memory Usage: 3340 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.24it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 566
-{
-    "Log_Likelihood": 21.122876972198487,
-    "Loss": -21.122876972198487,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2220.3991115904078,
-    "Time_Data_Loading": 0.022981011867523195,
-    "Time_Epoch": 0.4565731167793274,
-    "Time_Log_Info": 0.010159814357757568,
-    "Time_Process_Batch": 0.022451659043629963,
-    "Time_Train_Batch": 0.3978235999743144
-}
-
-Epoch 566 Memory Usage: 3341 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.43it/s]
-Train Epoch 567
-{
-    "Log_Likelihood": 21.139783294677734,
-    "Loss": -21.139783294677734,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2251.1050776653315,
-    "Time_Data_Loading": 0.022114030520121255,
-    "Time_Epoch": 0.45499610900878906,
-    "Time_Log_Info": 0.010213112831115723,
-    "Time_Process_Batch": 0.022002100944519043,
-    "Time_Train_Batch": 0.3973939259847005
-}
-
-Epoch 567 Memory Usage: 3341 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.41it/s]
-Train Epoch 568
-{
-    "Log_Likelihood": 21.156818336486815,
-    "Loss": -21.156818336486815,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2200.645140047284,
-    "Time_Data_Loading": 0.022142144044240315,
-    "Time_Epoch": 0.45541653633117674,
-    "Time_Log_Info": 0.010203619798024496,
-    "Time_Process_Batch": 0.022163061300913493,
-    "Time_Train_Batch": 0.3975681662559509
-}
-
-Epoch 568 Memory Usage: 3341 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.33it/s]
-Train Epoch 569
-{
-    "Log_Likelihood": 21.15962738418579,
-    "Loss": -21.15962738418579,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2314.052958588945,
-    "Time_Data_Loading": 0.023638470967610677,
-    "Time_Epoch": 0.45721248785654706,
-    "Time_Log_Info": 0.010176666577657064,
-    "Time_Process_Batch": 0.0222520112991333,
-    "Time_Train_Batch": 0.3979076504707336
-}
-
-Epoch 569 Memory Usage: 3341 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.34it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 570
-{
-    "Log_Likelihood": 21.150786838531495,
-    "Loss": -21.150786838531495,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2298.0704503904717,
-    "Time_Data_Loading": 0.023296618461608888,
-    "Time_Epoch": 0.45657447576522825,
-    "Time_Log_Info": 0.010203019777933756,
-    "Time_Process_Batch": 0.022410062948862712,
-    "Time_Train_Batch": 0.39728427728017174
-}
-
-Epoch 570 Memory Usage: 3342 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 571
-{
-    "Log_Likelihood": 21.15380368423462,
-    "Loss": -21.15380368423462,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2430.52281557674,
-    "Time_Data_Loading": 0.023028751214345295,
-    "Time_Epoch": 0.4560941179593404,
-    "Time_Log_Info": 0.01020511786142985,
-    "Time_Process_Batch": 0.02216047445933024,
-    "Time_Train_Batch": 0.3974810520807902
-}
-
-Epoch 571 Memory Usage: 3342 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 572
-{
-    "Log_Likelihood": 21.140257431030275,
-    "Loss": -21.140257431030275,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2039.3355704655721,
-    "Time_Data_Loading": 0.023254398504892984,
-    "Time_Epoch": 0.4564658721288045,
-    "Time_Log_Info": 0.010195477803548177,
-    "Time_Process_Batch": 0.022442960739135744,
-    "Time_Train_Batch": 0.397430964310964
-}
-
-Epoch 572 Memory Usage: 3342 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.67it/s]
100%|##########| 500/500 [00:27<00:00, 18.40it/s]
-Train Epoch 573
-{
-    "Log_Likelihood": 21.15300319290161,
-    "Loss": -21.15300319290161,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2450.408750915218,
-    "Time_Data_Loading": 0.0221116304397583,
-    "Time_Epoch": 0.45568974018096925,
-    "Time_Log_Info": 0.010196812947591146,
-    "Time_Process_Batch": 0.022232409318288168,
-    "Time_Train_Batch": 0.3977121988932292
-}
-
-Epoch 573 Memory Usage: 3343 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<02:20,  3.56it/s]
  1%|          | 3/500 [00:00<00:55,  8.99it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.59it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 574
-{
-    "Log_Likelihood": 21.18337292098999,
-    "Loss": -21.18337292098999,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2380.1664314233226,
-    "Time_Data_Loading": 0.02295701503753662,
-    "Time_Epoch": 0.45577772458394367,
-    "Time_Log_Info": 0.010214511553446453,
-    "Time_Process_Batch": 0.02219596306482951,
-    "Time_Train_Batch": 0.3972450057665507
-}
-
-Epoch 574 Memory Usage: 3342 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.36it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 575
-{
-    "Log_Likelihood": 21.195342929840088,
-    "Loss": -21.195342929840088,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2311.6899719685616,
-    "Time_Data_Loading": 0.023058223724365234,
-    "Time_Epoch": 0.4565219521522522,
-    "Time_Log_Info": 0.010207045078277587,
-    "Time_Process_Batch": 0.022573928038279217,
-    "Time_Train_Batch": 0.39734834829966226
-}
-
-Epoch 575 Memory Usage: 3344 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 576
-{
-    "Log_Likelihood": 21.178127578735353,
-    "Loss": -21.178127578735353,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2260.987487101669,
-    "Time_Data_Loading": 0.024085823694864908,
-    "Time_Epoch": 0.45774672826131185,
-    "Time_Log_Info": 0.010210029284159343,
-    "Time_Process_Batch": 0.022241902351379395,
-    "Time_Train_Batch": 0.3980825384457906
-}
-
-Epoch 576 Memory Usage: 3344 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 577
-{
-    "Log_Likelihood": 21.177505004882814,
-    "Loss": -21.177505004882814,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2315.2654355950076,
-    "Time_Data_Loading": 0.023015185197194418,
-    "Time_Epoch": 0.45643389225006104,
-    "Time_Log_Info": 0.010195565223693848,
-    "Time_Process_Batch": 0.022183688481648763,
-    "Time_Train_Batch": 0.39771616061528525
-}
-
-Epoch 577 Memory Usage: 3345 MB
-
-
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 50%|#####     | 251/500 [00:13<00:13, 18.58it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.54it/s]
 51%|#####1    | 255/500 [00:13<00:13, 18.32it/s]
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 71%|#######1  | 355/500 [00:19<00:07, 18.43it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.21it/s]
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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 578
-{
-    "Log_Likelihood": 21.18445148086548,
-    "Loss": -21.18445148086548,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2542.834355437833,
-    "Time_Data_Loading": 0.022203246752421062,
-    "Time_Epoch": 0.45551675160725913,
-    "Time_Log_Info": 0.010238901774088541,
-    "Time_Process_Batch": 0.022099188963572183,
-    "Time_Train_Batch": 0.39762232700983685
-}
-
-Epoch 578 Memory Usage: 3346 MB
-
-
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  0%|          | 1/500 [00:00<01:57,  4.23it/s]
  1%|          | 3/500 [00:00<00:50,  9.80it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 579
-{
-    "Log_Likelihood": 21.183619075775148,
-    "Loss": -21.183619075775148,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2440.5656777320764,
-    "Time_Data_Loading": 0.02259364128112793,
-    "Time_Epoch": 0.4560497442881266,
-    "Time_Log_Info": 0.010203119119008381,
-    "Time_Process_Batch": 0.022444276014963786,
-    "Time_Train_Batch": 0.3975499431292216
-}
-
-Epoch 579 Memory Usage: 3345 MB
-
-
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-Train Epoch 580
-{
-    "Log_Likelihood": 21.07536846446991,
-    "Loss": -21.07536846446991,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2413.4862766555343,
-    "Time_Data_Loading": 0.022924570242563884,
-    "Time_Epoch": 0.4559573213259379,
-    "Time_Log_Info": 0.010213569800059,
-    "Time_Process_Batch": 0.022525882720947264,
-    "Time_Train_Batch": 0.39714255730311077
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_580.pth
-
-Epoch 580 Memory Usage: 3346 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 581
-{
-    "Log_Likelihood": 21.163810592651366,
-    "Loss": -21.163810592651366,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2299.9752729254997,
-    "Time_Data_Loading": 0.02316543658574422,
-    "Time_Epoch": 0.4563757340113322,
-    "Time_Log_Info": 0.01021515130996704,
-    "Time_Process_Batch": 0.022250131766001383,
-    "Time_Train_Batch": 0.3974883635838827
-}
-
-Epoch 581 Memory Usage: 3347 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 582
-{
-    "Log_Likelihood": 21.207958106994628,
-    "Loss": -21.207958106994628,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2550.3052127344968,
-    "Time_Data_Loading": 0.023032025496164957,
-    "Time_Epoch": 0.4558115522066752,
-    "Time_Log_Info": 0.010218540827433268,
-    "Time_Process_Batch": 0.021965551376342773,
-    "Time_Train_Batch": 0.3972771167755127
-}
-
-Epoch 582 Memory Usage: 3346 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.42it/s]
-Train Epoch 583
-{
-    "Log_Likelihood": 21.225595626831055,
-    "Loss": -21.225595626831055,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2481.0382763906546,
-    "Time_Data_Loading": 0.02218772570292155,
-    "Time_Epoch": 0.4553829312324524,
-    "Time_Log_Info": 0.01023859977722168,
-    "Time_Process_Batch": 0.022253910700480144,
-    "Time_Train_Batch": 0.3973042289415995
-}
-
-Epoch 583 Memory Usage: 3347 MB
-
-
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  1%|          | 3/500 [00:00<00:50,  9.89it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 584
-{
-    "Log_Likelihood": 21.238376274108887,
-    "Loss": -21.238376274108887,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2387.2475912636733,
-    "Time_Data_Loading": 0.02296038866043091,
-    "Time_Epoch": 0.45641202926635743,
-    "Time_Log_Info": 0.010211730003356933,
-    "Time_Process_Batch": 0.02232019106547038,
-    "Time_Train_Batch": 0.3977634867032369
-}
-
-Epoch 584 Memory Usage: 3347 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.64it/s]
100%|##########| 500/500 [00:27<00:00, 18.35it/s]
-Train Epoch 585
-{
-    "Log_Likelihood": 21.187165355682374,
-    "Loss": -21.187165355682374,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2271.5136936013955,
-    "Time_Data_Loading": 0.023438537120819093,
-    "Time_Epoch": 0.4569406509399414,
-    "Time_Log_Info": 0.010208348433176676,
-    "Time_Process_Batch": 0.022480952739715575,
-    "Time_Train_Batch": 0.3975886106491089
-}
-
-Epoch 585 Memory Usage: 3348 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.36it/s]
-Train Epoch 586
-{
-    "Log_Likelihood": 21.195567180633546,
-    "Loss": -21.195567180633546,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2440.078481936615,
-    "Time_Data_Loading": 0.02287169297536214,
-    "Time_Epoch": 0.45665228366851807,
-    "Time_Log_Info": 0.010158197085062663,
-    "Time_Process_Batch": 0.022492738564809163,
-    "Time_Train_Batch": 0.3978365739186605
-}
-
-Epoch 586 Memory Usage: 3348 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 587
-{
-    "Log_Likelihood": 21.2274268989563,
-    "Loss": -21.2274268989563,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2415.5729457990806,
-    "Time_Data_Loading": 0.023034346103668214,
-    "Time_Epoch": 0.4560256322224935,
-    "Time_Log_Info": 0.010221707820892333,
-    "Time_Process_Batch": 0.02208871841430664,
-    "Time_Train_Batch": 0.3975180228551229
-}
-
-Epoch 587 Memory Usage: 3348 MB
-
-
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 50%|#####     | 251/500 [00:13<00:13, 18.54it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.33it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.25it/s]
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 70%|#######   | 351/500 [00:19<00:08, 18.61it/s]
 71%|#######   | 353/500 [00:19<00:07, 18.58it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.59it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.46it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 588
-{
-    "Log_Likelihood": 21.202800300598145,
-    "Loss": -21.202800300598145,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2524.725724193127,
-    "Time_Data_Loading": 0.023053542772928873,
-    "Time_Epoch": 0.4560869256655375,
-    "Time_Log_Info": 0.010193097591400146,
-    "Time_Process_Batch": 0.02230434020360311,
-    "Time_Train_Batch": 0.397349735101064
-}
-
-Epoch 588 Memory Usage: 3348 MB
-
-
  0%|          | 0/500 [00:00<?, ?it/s]
  0%|          | 1/500 [00:00<01:58,  4.22it/s]
  1%|          | 3/500 [00:00<00:50,  9.75it/s]
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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 589
-{
-    "Log_Likelihood": 21.23127333831787,
-    "Loss": -21.23127333831787,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2512.955711202577,
-    "Time_Data_Loading": 0.02265091339747111,
-    "Time_Epoch": 0.4560946822166443,
-    "Time_Log_Info": 0.01021249294281006,
-    "Time_Process_Batch": 0.022392010688781737,
-    "Time_Train_Batch": 0.39756642977396645
-}
-
-Epoch 589 Memory Usage: 3348 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.48it/s]
100%|##########| 500/500 [00:27<00:00, 18.31it/s]
-Train Epoch 590
-{
-    "Log_Likelihood": 21.24358511734009,
-    "Loss": -21.24358511734009,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2398.223973787427,
-    "Time_Data_Loading": 0.023842259248097738,
-    "Time_Epoch": 0.4578373392422994,
-    "Time_Log_Info": 0.010180660088857015,
-    "Time_Process_Batch": 0.022957412401835124,
-    "Time_Train_Batch": 0.39761974414189655
-}
-
-Epoch 590 Memory Usage: 3349 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 591
-{
-    "Log_Likelihood": 21.249867504119873,
-    "Loss": -21.249867504119873,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2370.100619711474,
-    "Time_Data_Loading": 0.02334752877553304,
-    "Time_Epoch": 0.4571343700091044,
-    "Time_Log_Info": 0.01020285685857137,
-    "Time_Process_Batch": 0.022486559549967446,
-    "Time_Train_Batch": 0.397643248240153
-}
-
-Epoch 591 Memory Usage: 3349 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 592
-{
-    "Log_Likelihood": 21.214449935913088,
-    "Loss": -21.214449935913088,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2410.522053776845,
-    "Time_Data_Loading": 0.02409809430440267,
-    "Time_Epoch": 0.45731606483459475,
-    "Time_Log_Info": 0.010201025009155273,
-    "Time_Process_Batch": 0.022236788272857667,
-    "Time_Train_Batch": 0.3976128896077474
-}
-
-Epoch 592 Memory Usage: 3350 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 593
-{
-    "Log_Likelihood": 21.26337138748169,
-    "Loss": -21.26337138748169,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2507.8623808985512,
-    "Time_Data_Loading": 0.023611831665039062,
-    "Time_Epoch": 0.4562014102935791,
-    "Time_Log_Info": 0.010215147336324056,
-    "Time_Process_Batch": 0.022057767709096274,
-    "Time_Train_Batch": 0.3971108317375183
-}
-
-Epoch 593 Memory Usage: 3351 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.41it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 594
-{
-    "Log_Likelihood": 21.228744579315187,
-    "Loss": -21.228744579315187,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2386.547893875975,
-    "Time_Data_Loading": 0.02301717201868693,
-    "Time_Epoch": 0.4562187949816386,
-    "Time_Log_Info": 0.01020430326461792,
-    "Time_Process_Batch": 0.02259872357050578,
-    "Time_Train_Batch": 0.39723591804504393
-}
-
-Epoch 594 Memory Usage: 3351 MB
-
-
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100%|##########| 500/500 [00:27<00:00, 18.41it/s]
-Train Epoch 595
-{
-    "Log_Likelihood": 21.24541328048706,
-    "Loss": -21.24541328048706,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2694.044084993344,
-    "Time_Data_Loading": 0.022486567497253418,
-    "Time_Epoch": 0.455387278397878,
-    "Time_Log_Info": 0.01021262804667155,
-    "Time_Process_Batch": 0.02204654614130656,
-    "Time_Train_Batch": 0.39746022621790567
-}
-
-Epoch 595 Memory Usage: 3352 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.54it/s]
100%|##########| 500/500 [00:27<00:00, 18.37it/s]
-Train Epoch 596
-{
-    "Log_Likelihood": 21.24724945831299,
-    "Loss": -21.24724945831299,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2652.4160388105342,
-    "Time_Data_Loading": 0.02361314296722412,
-    "Time_Epoch": 0.45658474365870155,
-    "Time_Log_Info": 0.010201950867970785,
-    "Time_Process_Batch": 0.022194902102152508,
-    "Time_Train_Batch": 0.39715381860733034
-}
-
-Epoch 596 Memory Usage: 3352 MB
-
-
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 13%|#3        | 65/500 [00:03<00:23, 18.25it/s]
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 14%|#3        | 69/500 [00:03<00:23, 18.25it/s]
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 23%|##3       | 117/500 [00:06<00:20, 18.47it/s]
 24%|##3       | 119/500 [00:06<00:20, 18.35it/s]
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 30%|###       | 151/500 [00:08<00:19, 18.36it/s]
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 31%|###1      | 155/500 [00:08<00:18, 18.56it/s]
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 33%|###2      | 163/500 [00:09<00:18, 18.44it/s]
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 50%|####9     | 249/500 [00:13<00:13, 18.49it/s]
 50%|#####     | 251/500 [00:13<00:13, 18.51it/s]
 51%|#####     | 253/500 [00:13<00:13, 18.51it/s]
 51%|#####1    | 255/500 [00:14<00:13, 18.31it/s]
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 53%|#####2    | 263/500 [00:14<00:12, 18.41it/s]
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 71%|#######   | 353/500 [00:19<00:08, 18.23it/s]
 71%|#######1  | 355/500 [00:19<00:07, 18.34it/s]
 71%|#######1  | 357/500 [00:19<00:07, 18.47it/s]
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 97%|#########7| 487/500 [00:26<00:00, 18.35it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.61it/s]
100%|##########| 500/500 [00:27<00:00, 18.32it/s]
-Train Epoch 597
-{
-    "Log_Likelihood": 21.236892539978026,
-    "Loss": -21.236892539978026,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2379.8803382081414,
-    "Time_Data_Loading": 0.023953592777252196,
-    "Time_Epoch": 0.4577097654342651,
-    "Time_Log_Info": 0.01021403471628825,
-    "Time_Process_Batch": 0.022803282737731932,
-    "Time_Train_Batch": 0.3974877675374349
-}
-
-Epoch 597 Memory Usage: 3352 MB
-
-
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  0%|          | 1/500 [00:00<01:54,  4.38it/s]
  1%|          | 3/500 [00:00<00:50,  9.94it/s]
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100%|#########9| 499/500 [00:27<00:00, 18.34it/s]
100%|##########| 500/500 [00:27<00:00, 18.38it/s]
-Train Epoch 598
-{
-    "Log_Likelihood": 21.033512672424315,
-    "Loss": -21.033512672424315,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2405.1096527133013,
-    "Time_Data_Loading": 0.022596490383148194,
-    "Time_Epoch": 0.4561107595761617,
-    "Time_Log_Info": 0.010216907660166422,
-    "Time_Process_Batch": 0.02232587734858195,
-    "Time_Train_Batch": 0.3977023959159851
-}
-
-Epoch 598 Memory Usage: 3352 MB
-
-
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100%|#########9| 499/500 [00:27<00:00, 18.57it/s]
100%|##########| 500/500 [00:27<00:00, 18.39it/s]
-Train Epoch 599
-{
-    "Log_Likelihood": 21.273282955169677,
-    "Loss": -21.273282955169677,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2661.1495441027923,
-    "Time_Data_Loading": 0.022817134857177734,
-    "Time_Epoch": 0.45617891947428385,
-    "Time_Log_Info": 0.0102011243502299,
-    "Time_Process_Batch": 0.02243827184041341,
-    "Time_Train_Batch": 0.397227684656779
-}
-
-Epoch 599 Memory Usage: 3353 MB
-
-
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-Train Epoch 600
-{
-    "Log_Likelihood": 21.260201648712158,
-    "Loss": -21.260201648712158,
-    "Optimizer/policy0_lr": 0.00010000000000000003,
-    "Policy_Grad_Norms": 2456.136065922859,
-    "Time_Data_Loading": 0.02331011692682902,
-    "Time_Epoch": 0.4563009858131409,
-    "Time_Log_Info": 0.01022565762201945,
-    "Time_Process_Batch": 0.02236224412918091,
-    "Time_Train_Batch": 0.3972475250562032
-}
-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_cosmos_mimic_2k_table_only/20250420141711/models/model_epoch_600.pth
-
-Epoch 600 Memory Usage: 3353 MB
-
-finished run successfully!