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torchrunx/2026-02-06T10:17:31/localhost[5].log ADDED
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+ 2026-02-06 10:18:26:INFO: [INFO] Training with: device=cuda:5, seed=47, rank=5
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+ 2026-02-06 10:18:26:INFO: Setting seed: 47
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+ 2026-02-06 10:18:26:INFO: Warp 1.11.1 initialized:
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+ 2026-02-06 10:18:26:INFO: CUDA Toolkit 12.9, Driver 12.8
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+ 2026-02-06 10:18:26:INFO: Devices:
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+ 2026-02-06 10:18:26:INFO: "cpu" : "x86_64"
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+ 2026-02-06 10:18:26:INFO: "cuda:0" : "NVIDIA RTX A4000" (15 GiB, sm_86, mempool enabled)
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+ 2026-02-06 10:18:26:INFO: "cuda:1" : "NVIDIA RTX A4000" (15 GiB, sm_86, mempool enabled)
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+ 2026-02-06 10:18:26:INFO: "cuda:2" : "NVIDIA RTX A4000" (15 GiB, sm_86, mempool enabled)
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+ 2026-02-06 10:18:26:INFO: "cuda:3" : "NVIDIA RTX A4000" (15 GiB, sm_86, mempool enabled)
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+ 2026-02-06 10:18:26:INFO: "cuda:4" : "NVIDIA RTX A4000" (15 GiB, sm_86, mempool enabled)
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+ 2026-02-06 10:18:26:INFO: "cuda:5" : "NVIDIA RTX A4000" (15 GiB, sm_86, mempool enabled)
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+ 2026-02-06 10:18:26:INFO: "cuda:6" : "NVIDIA RTX A4000" (15 GiB, sm_86, mempool enabled)
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+ 2026-02-06 10:18:26:INFO: "cuda:7" : "NVIDIA RTX A4000" (15 GiB, sm_86, mempool enabled)
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+ 2026-02-06 10:18:26:INFO: "cuda:8" : "NVIDIA RTX A4000" (15 GiB, sm_86, mempool enabled)
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+ 2026-02-06 10:18:26:INFO: "cuda:9" : "NVIDIA RTX A4000" (15 GiB, sm_86, mempool enabled)
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+ 2026-02-06 10:18:26:INFO: CUDA peer access:
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+ 2026-02-06 10:18:26:INFO: Not supported
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+ 2026-02-06 10:18:26:INFO: Kernel cache:
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+ 2026-02-06 10:18:26:INFO: /home/shadeform/.cache/warp/1.11.1
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+ 2026-02-06 10:18:26:INFO: Warp DeprecationWarning: The namespace `warp.context` will soon be removed from the public API. It can still be accessed from `warp._src.context` but might be changed or removed without notice.
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+ 2026-02-06 10:18:26:INFO: Warp DeprecationWarning: The symbol `warp.context.runtime` will soon be removed from the public API. It can still be accessed from `warp._src.context.runtime` but might be changed or removed without notice.
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+ 2026-02-06 10:18:26:INFO: Module mujoco_warp._src.smooth d5aa94c load on device 'cuda:5' took 0.57 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module mujoco_warp._src.collision_driver de6dc98 load on device 'cuda:5' took 0.22 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module _nxn_broadphase__locals__kernel_86ad8c1b 86ad8c1 load on device 'cuda:5' took 0.25 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module ccd_kernel_builder__locals__ccd_kernel_64650ba5 64650ba load on device 'cuda:5' took 0.26 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module ccd_kernel_builder__locals__ccd_kernel_642f315e 642f315 load on device 'cuda:5' took 0.26 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module _primitive_narrowphase__locals__primitive_narrowphase_80205b1a 2b3a317 load on device 'cuda:5' took 0.25 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module mujoco_warp._src.constraint 645fa6f load on device 'cuda:5' took 0.37 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module _actuator_velocity__locals__actuator_velocity_7a180724 dadd8d3 load on device 'cuda:5' took 0.26 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module mujoco_warp._src.passive 223687a load on device 'cuda:5' took 0.29 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module mujoco_warp._src.sensor 220b94d load on device 'cuda:5' took 0.40 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module mujoco_warp._src.forward 3875c24 load on device 'cuda:5' took 0.30 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module mujoco_warp._src.support b7a7a89 load on device 'cuda:5' took 0.22 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module _tile_cholesky_factorize_solve__locals__cholesky_factorize_solve_41d441d4 5614da7 load on device 'cuda:5' took 19.15 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module mujoco_warp._src.solver 29b4c43 load on device 'cuda:5' took 0.33 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module mul_m_dense__locals___mul_m_dense_c43c44d4 6db1c2d load on device 'cuda:5' took 18.45 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module update_constraint_gauss_cost__locals__kernel_4e9b22dd 4e9b22d load on device 'cuda:5' took 0.26 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module update_gradient_JTDAJ_dense_tiled__locals__kernel_a04ae6cf a062e37 load on device 'cuda:5' took 24.75 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module update_gradient_cholesky__locals__kernel_5185a441 ef052fa load on device 'cuda:5' took 28.38 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module linesearch_jv_fused__locals__kernel_bb1a4057 bb1a405 load on device 'cuda:5' took 0.28 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module _contact_sort__locals__contact_sort_e882758a 3fb6072 load on device 'cuda:5' took 0.26 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module mujoco_warp._src.derivative 37a1e4f load on device 'cuda:5' took 0.26 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module _qderiv_actuator_passive_actuation_dense__locals__kernel_d9db1a0a fd564ec load on device 'cuda:5' took 24.02 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module reset_data__locals__reset_xfrc_applied_d95ec4fa d95ec4f load on device 'cuda:5' took 0.24 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module reset_data__locals__reset_qM_2fd71024 2fd7102 load on device 'cuda:5' took 0.24 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module reset_data__locals__reset_mocap_8e76bc44 8e76bc4 load on device 'cuda:5' took 0.23 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module reset_data__locals__reset_contact_cf748895 cf74889 load on device 'cuda:5' took 0.23 ms (cached)
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+ 2026-02-06 10:18:26:INFO: Module reset_data__locals__reset_nworld_3ff90441 3ff9044 load on device 'cuda:5' took 0.23 ms (cached)
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+ 2026-02-06 10:18:26:INFO:
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+ 2026-02-06 10:18:26:INFO: +---------------------------------+
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+ 2026-02-06 10:18:26:INFO: | Base Environment |
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+ 2026-02-06 10:18:26:INFO: +------------------------+--------+
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+ 2026-02-06 10:18:26:INFO: | Property | Value |
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+ 2026-02-06 10:18:26:INFO: +------------------------+--------+
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+ 2026-02-06 10:18:26:INFO: | Number of environments | 8192 |
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+ 2026-02-06 10:18:26:INFO: | Environment device | cuda:5 |
58
+ 2026-02-06 10:18:26:INFO: | Environment seed | 47 |
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+ 2026-02-06 10:18:26:INFO: | Physics step-size | 0.005 |
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+ 2026-02-06 10:18:26:INFO: | Environment step-size | 0.02 |
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+ 2026-02-06 10:18:26:INFO: +------------------------+--------+
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+ 2026-02-06 10:18:26:INFO:
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+ 2026-02-06 10:18:26:INFO: [INFO] <EventManager> contains 3 active terms.
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+ 2026-02-06 10:18:26:INFO: +-------------------------------------+
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+ 2026-02-06 10:18:26:INFO: | Active Event Terms in Mode: 'reset' |
66
+ 2026-02-06 10:18:26:INFO: +--------+----------------------------+
67
+ 2026-02-06 10:18:26:INFO: | Index | Name |
68
+ 2026-02-06 10:18:26:INFO: +--------+----------------------------+
69
+ 2026-02-06 10:18:26:INFO: | 0 | reset_base |
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+ 2026-02-06 10:18:26:INFO: | 1 | reset_robot_joints |
71
+ 2026-02-06 10:18:26:INFO: +--------+----------------------------+
72
+ 2026-02-06 10:18:26:INFO: +----------------------------------------------+
73
+ 2026-02-06 10:18:26:INFO: | Active Event Terms in Mode: 'interval' |
74
+ 2026-02-06 10:18:26:INFO: +-------+------------+-------------------------+
75
+ 2026-02-06 10:18:26:INFO: | Index | Name | Interval time range (s) |
76
+ 2026-02-06 10:18:26:INFO: +-------+------------+-------------------------+
77
+ 2026-02-06 10:18:26:INFO: | 0 | push_robot | (1.0, 3.0) |
78
+ 2026-02-06 10:18:26:INFO: +-------+------------+-------------------------+
79
+ 2026-02-06 10:18:26:INFO: +---------------------------------------+
80
+ 2026-02-06 10:18:26:INFO: | Active Event Terms in Mode: 'startup' |
81
+ 2026-02-06 10:18:26:INFO: +-----------+---------------------------+
82
+ 2026-02-06 10:18:26:INFO: | Index | Name |
83
+ 2026-02-06 10:18:26:INFO: +-----------+---------------------------+
84
+ 2026-02-06 10:18:26:INFO: | 0 | body_friction |
85
+ 2026-02-06 10:18:26:INFO: | 1 | encoder_bias |
86
+ 2026-02-06 10:18:26:INFO: | 2 | base_com |
87
+ 2026-02-06 10:18:26:INFO: +-----------+---------------------------+
88
+ 2026-02-06 10:18:26:INFO: +-----------------------------+
89
+ 2026-02-06 10:18:26:INFO: | Domain Randomization Fields |
90
+ 2026-02-06 10:18:26:INFO: +--------+--------------------+
91
+ 2026-02-06 10:18:26:INFO: | Index | Field Name |
92
+ 2026-02-06 10:18:26:INFO: +--------+--------------------+
93
+ 2026-02-06 10:18:26:INFO: | 0 | geom_friction |
94
+ 2026-02-06 10:18:26:INFO: | 1 | body_ipos |
95
+ 2026-02-06 10:18:26:INFO: +--------+--------------------+
96
+ 2026-02-06 10:18:26:INFO:
97
+ 2026-02-06 10:18:26:INFO: Module repeat_array_kernel_8155c5c0 9ec5a16 load on device 'cuda:5' took 0.39 ms (cached)
98
+ 2026-02-06 10:18:26:INFO: [INFO] <CommandManager> contains 1 active terms.
99
+ 2026-02-06 10:18:26:INFO: +----------------------------------------+
100
+ 2026-02-06 10:18:26:INFO: | Active Command Terms |
101
+ 2026-02-06 10:18:26:INFO: +-------+-------+------------------------+
102
+ 2026-02-06 10:18:26:INFO: | Index | Name | Type |
103
+ 2026-02-06 10:18:26:INFO: +-------+-------+------------------------+
104
+ 2026-02-06 10:18:26:INFO: | 0 | twist | UniformVelocityCommand |
105
+ 2026-02-06 10:18:26:INFO: +-------+-------+------------------------+
106
+ 2026-02-06 10:18:26:INFO:
107
+ 2026-02-06 10:18:26:INFO: [INFO] <ActionManager> contains 1 active terms.
108
+ 2026-02-06 10:18:26:INFO: +---------------------------------+
109
+ 2026-02-06 10:18:26:INFO: | Active Action Terms (shape: 12) |
110
+ 2026-02-06 10:18:26:INFO: +-------+-----------+-------------+
111
+ 2026-02-06 10:18:26:INFO: | Index | Name | Dimension |
112
+ 2026-02-06 10:18:26:INFO: +-------+-----------+-------------+
113
+ 2026-02-06 10:18:26:INFO: | 0 | joint_pos | 12 |
114
+ 2026-02-06 10:18:26:INFO: +-------+-----------+-------------+
115
+ 2026-02-06 10:18:26:INFO:
116
+ 2026-02-06 10:18:26:INFO: [INFO] <ObservationManager> contains 2 groups.
117
+ 2026-02-06 10:18:26:INFO: +------------------------------------------------------------+
118
+ 2026-02-06 10:18:26:INFO: | Active Observation Terms in Group: 'policy' (shape: (45,)) |
119
+ 2026-02-06 10:18:26:INFO: +--------+-------------------------+-------------------------+
120
+ 2026-02-06 10:18:26:INFO: | Index | Name | Shape |
121
+ 2026-02-06 10:18:26:INFO: +--------+-------------------------+-------------------------+
122
+ 2026-02-06 10:18:26:INFO: | 0 | base_ang_vel | (3,) ← 1×(3,) |
123
+ 2026-02-06 10:18:26:INFO: | 1 | projected_gravity | (3,) ← 1×(3,) |
124
+ 2026-02-06 10:18:26:INFO: | 2 | command | (3,) ← 1×(3,) |
125
+ 2026-02-06 10:18:26:INFO: | 3 | joint_pos | (12,) ← 1×(12,) |
126
+ 2026-02-06 10:18:26:INFO: | 4 | joint_vel | (12,) ← 1×(12,) |
127
+ 2026-02-06 10:18:26:INFO: | 5 | actions | (12,) ← 1×(12,) |
128
+ 2026-02-06 10:18:26:INFO: +--------+-------------------------+-------------------------+
129
+ 2026-02-06 10:18:26:INFO: +------------------------------------------------------------+
130
+ 2026-02-06 10:18:26:INFO: | Active Observation Terms in Group: 'critic' (shape: (48,)) |
131
+ 2026-02-06 10:18:26:INFO: +--------+-------------------------+-------------------------+
132
+ 2026-02-06 10:18:26:INFO: | Index | Name | Shape |
133
+ 2026-02-06 10:18:26:INFO: +--------+-------------------------+-------------------------+
134
+ 2026-02-06 10:18:26:INFO: | 0 | base_lin_vel | (3,) ← 1×(3,) |
135
+ 2026-02-06 10:18:26:INFO: | 1 | base_ang_vel | (3,) ← 1×(3,) |
136
+ 2026-02-06 10:18:26:INFO: | 2 | projected_gravity | (3,) ← 1×(3,) |
137
+ 2026-02-06 10:18:26:INFO: | 3 | command | (3,) ← 1×(3,) |
138
+ 2026-02-06 10:18:26:INFO: | 4 | joint_pos | (12,) ← 1×(12,) |
139
+ 2026-02-06 10:18:26:INFO: | 5 | joint_vel | (12,) ← 1×(12,) |
140
+ 2026-02-06 10:18:26:INFO: | 6 | actions | (12,) ← 1×(12,) |
141
+ 2026-02-06 10:18:26:INFO: +--------+-------------------------+-------------------------+