INFO 2026-06-29 14:46:53 ot_train.py:212 {'batch_size': 8,
'checkpoint_path': None,
'cudnn_deterministic': False,
'dataset': {'episodes': None,
'image_transforms': {'enable': False,
'max_num_transforms': 3,
'random_order': False,
'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
5.0],
'translate': [0.05,
0.05]},
'type': 'RandomAffine',
'weight': 1.0},
'brightness': {'kwargs': {'brightness': [0.8,
1.2]},
'type': 'ColorJitter',
'weight': 1.0},
'contrast': {'kwargs': {'contrast': [0.8,
1.2]},
'type': 'ColorJitter',
'weight': 1.0},
'hue': {'kwargs': {'hue': [-0.05,
0.05]},
'type': 'ColorJitter',
'weight': 1.0},
'saturation': {'kwargs': {'saturation': [0.5,
1.5]},
'type': 'ColorJitter',
'weight': 1.0},
'sharpness': {'kwargs': {'sharpness': [0.5,
1.5]},
'type': 'SharpnessJitter',
'weight': 1.0}}},
'repo_id': 'raymondlo84-nvidia/try_1_20260629_142604',
'return_uint8': False,
'revision': None,
'root': None,
'streaming': False,
'use_imagenet_stats': True,
'video_backend': 'torchcodec'},
'env': None,
'eval': {'batch_size': 10, 'n_episodes': 10, 'use_async_envs': False},
'eval_freq': 0,
'job_name': 'diffusion',
'log_freq': 250,
'num_workers': 4,
'optimizer': {'betas': [0.95, 0.999],
'eps': 1e-08,
'grad_clip_norm': 10.0,
'lr': 0.0001,
'type': 'adam',
'weight_decay': 1e-06},
'output_dir': '/home/nvidia/.cache/huggingface/lerobot/outputs/train/diffusion_raymondlo84-nvidia_try_1_20260629_142604_2026-06-29_14-46-49/run',
'peft': None,
'persistent_workers': True,
'policy': {'beta_end': 0.02,
'beta_schedule': 'squaredcos_cap_v2',
'beta_start': 0.0001,
'clip_sample': True,
'clip_sample_range': 1.0,
'compile_mode': 'reduce-overhead',
'compile_model': False,
'crop_is_random': True,
'crop_ratio': 1.0,
'crop_shape': None,
'device': 'cuda',
'diffusion_step_embed_dim': 128,
'do_mask_loss_for_padding': False,
'down_dims': [512, 1024, 2048],
'drop_n_last_frames': 7,
'horizon': 64,
'input_features': {},
'kernel_size': 5,
'license': None,
'n_action_steps': 32,
'n_groups': 8,
'n_obs_steps': 2,
'noise_scheduler_type': 'DDPM',
'normalization_mapping': {'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>,
'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>,
'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>},
'num_inference_steps': None,
'num_train_timesteps': 100,
'optimizer_betas': [0.95, 0.999],
'optimizer_eps': 1e-08,
'optimizer_lr': 0.0001,
'optimizer_weight_decay': 1e-06,
'output_features': {},
'prediction_type': 'epsilon',
'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1',
'pretrained_path': None,
'private': None,
'push_to_hub': False,
'repo_id': None,
'resize_shape': None,
'scheduler_name': 'cosine',
'scheduler_warmup_steps': 500,
'spatial_softmax_num_keypoints': 32,
'tags': None,
'type': 'diffusion',
'use_amp': False,
'use_film_scale_modulation': True,
'use_group_norm': False,
'use_peft': False,
'use_separate_rgb_encoder_per_camera': True,
'vision_backbone': 'resnet18'},
'prefetch_factor': 4,
'rename_map': {},
'resume': False,
'reward_model': None,
'sample_weighting': None,
'save_checkpoint': True,
'save_freq': 1000,
'scheduler': {'name': 'cosine', 'num_warmup_steps': 500, 'type': 'diffuser'},
'seed': 1000,
'steps': 10000,
'tolerance_s': 0.0001,
'use_policy_training_preset': True,
'wandb': {'add_tags': True,
'disable_artifact': False,
'enable': False,
'entity': None,
'mode': None,
'notes': None,
'project': 'lerobot',
'run_id': None}}
INFO 2026-06-29 14:46:53 ot_train.py:220 Logs will be saved locally.
INFO 2026-06-29 14:46:53 ot_train.py:236 Creating dataset
INFO 2026-06-29 14:46:53 eo_utils.py:110 Using video codec: libsvtav1
INFO 2026-06-29 14:46:53 ot_train.py:270 Creating policy
Traceback (most recent call last):
File "<frozen runpy>", line 198, in _run_module_as_main
File "<frozen runpy>", line 88, in _run_code
File "/home/nvidia/leLab/.venv/lib/python3.12/site-packages/lerobot/scripts/lerobot_train.py", line 599, in <module>
main()
File "/home/nvidia/leLab/.venv/lib/python3.12/site-packages/lerobot/scripts/lerobot_train.py", line 595, in main
train()
File "/home/nvidia/leLab/.venv/lib/python3.12/site-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
response = fn(cfg, *args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/nvidia/leLab/.venv/lib/python3.12/site-packages/lerobot/scripts/lerobot_train.py", line 271, in train
policy = make_policy(
^^^^^^^^^^^^
File "/home/nvidia/leLab/.venv/lib/python3.12/site-packages/lerobot/policies/factory.py", line 550, in make_policy
policy = policy_cls(**kwargs)
^^^^^^^^^^^^^^^^^^^^
File "/home/nvidia/leLab/.venv/lib/python3.12/site-packages/lerobot/policies/diffusion/modeling_diffusion.py", line 76, in __init__
require_package("diffusers", extra="diffusion")
File "/home/nvidia/leLab/.venv/lib/python3.12/site-packages/lerobot/utils/import_utils.py", line 92, in require_package
raise ImportError(
ImportError: 'diffusers' is required but not installed. Install it with: pip install 'lerobot[diffusion]' (or uv pip install 'lerobot[diffusion]')
