o
    ³ÆiOÎ  ã                   @   s.  d dl mZ d dlmZ d dlZd dlmZ d dlZd dl	Z	d dl
mZ d dlmZ d dlmZ d dlmZmZ d dlmZ d d	lmZ d d
lmZ eG dd„ dƒƒZG dd„ deƒZeeeƒddddeeƒdddddZG dd„ deƒZeeeƒddddeeƒddddeeƒdddZdd„ ZdS )é    ©Ú	dataclass)ÚTupleN)ÚConfigStore)ÚLazyCall)ÚImaginaireModel)ÚdistributedÚlog)ÚWandBCallback)Úeasy_io)Ú_LossRecordc                   @   sF   e Zd ZU dZeed< dZeed< d
dd„Zde	eef fdd	„Z
dS )Ú_LossRecordNoEDMr   ÚlossÚ
iter_countÚreturnNc                 C   s   d| _ d| _d S )Nr   )r   r   )Úself© r   úD/data/cameron/vidgen/cosmos-policy/cosmos_policy/config/callbacks.pyÚreset%   s   
z_LossRecordNoEDM.resetc                 C   sB   | j dkr| j| j  }tj|tjjd | ¡ }nd}|  ¡  |S )Nr   ©Úop)r   r   ÚdistÚ
all_reduceÚReduceOpÚAVGÚitemr   )r   Úavg_lossr   r   r   Úget_stat)   s   

z_LossRecordNoEDM.get_stat)r   N)Ú__name__Ú
__module__Ú__qualname__r   ÚfloatÚ__annotations__r   Úintr   r   r   r   r   r   r   r       s
   
 
r   c                       sÆ   e Zd Z			ddedededdf‡ fdd	„Z	
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deddfdd„Zddededdfdd„Z‡  ZS )ÚWandbCallbacké   FÚlogging_iter_multiplerÚsave_logging_iter_multiplerÚsave_s3r   Nc                    s  t ƒ  ¡  tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _	tƒ | _
tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tƒ | _tjddd| _tjddd| _tƒ | _tƒ | _ tƒ | _!tƒ | _"tƒ | _#tƒ | _$tƒ | _%tƒ | _&tƒ | _'tƒ | _(tƒ | _)tƒ | _*tƒ | _+tƒ | _,tƒ | _-tƒ | _.tƒ | _/tƒ | _0tƒ | _1tƒ | _2tƒ | _3tƒ | _4tƒ | _5tjddd| _6tjddd| _7|| _8|| _9| j8dksìJ dƒ‚|| _:|dkrød|› nd| _;d| j; | _<d S )	Nr%   Úcuda)Údevicer   z/logging_iter_multipler should be greater than 0ú@Ú Úwandb_loss_log)=ÚsuperÚ__init__r   Útrain_image_logÚtrain_video_logÚtrain_final_loss_logr   Ú%train_demo_sample_action_mse_loss_logÚ$train_demo_sample_action_l1_loss_logÚ-train_demo_sample_future_proprio_mse_loss_logÚ,train_demo_sample_future_proprio_l1_loss_logÚ1train_demo_sample_future_wrist_image_mse_loss_logÚ0train_demo_sample_future_wrist_image_l1_loss_logÚ+train_demo_sample_future_image_mse_loss_logÚ*train_demo_sample_future_image_l1_loss_logÚ$train_demo_sample_value_mse_loss_logÚ#train_demo_sample_value_l1_loss_logÚ4train_world_model_sample_future_proprio_mse_loss_logÚ3train_world_model_sample_future_proprio_l1_loss_logÚ8train_world_model_sample_future_wrist_image_mse_loss_logÚ7train_world_model_sample_future_wrist_image_l1_loss_logÚ2train_world_model_sample_future_image_mse_loss_logÚ1train_world_model_sample_future_image_l1_loss_logÚ+train_world_model_sample_value_mse_loss_logÚ*train_world_model_sample_value_l1_loss_logÚ.train_value_function_sample_value_mse_loss_logÚ-train_value_function_sample_value_l1_loss_logÚtorchÚzerosÚtrain_img_unstable_countÚtrain_video_unstable_countÚval_image_logÚval_video_logÚval_final_loss_logÚ#val_demo_sample_action_mse_loss_logÚ"val_demo_sample_action_l1_loss_logÚ+val_demo_sample_future_proprio_mse_loss_logÚ*val_demo_sample_future_proprio_l1_loss_logÚ/val_demo_sample_future_wrist_image_mse_loss_logÚ.val_demo_sample_future_wrist_image_l1_loss_logÚ)val_demo_sample_future_image_mse_loss_logÚ(val_demo_sample_future_image_l1_loss_logÚ"val_demo_sample_value_mse_loss_logÚ!val_demo_sample_value_l1_loss_logÚ2val_world_model_sample_future_proprio_mse_loss_logÚ1val_world_model_sample_future_proprio_l1_loss_logÚ6val_world_model_sample_future_wrist_image_mse_loss_logÚ5val_world_model_sample_future_wrist_image_l1_loss_logÚ0val_world_model_sample_future_image_mse_loss_logÚ/val_world_model_sample_future_image_l1_loss_logÚ)val_world_model_sample_value_mse_loss_logÚ(val_world_model_sample_value_l1_loss_logÚ,val_value_function_sample_value_mse_loss_logÚ+val_value_function_sample_value_l1_loss_logÚval_img_unstable_countÚval_video_unstable_countr&   r'   r(   Úwandb_extra_tagÚname)r   r&   r'   r(   ©Ú	__class__r   r   r/   5   sr   
zWandbCallback.__init__r   ÚmodelÚ
data_batchÚoutput_batchr   Ú	iterationc           7       C   sÈ	  d}t  |¡st  |¡r!d}tjd|› d|› d| |¡› dd |sæ| |¡rL| j j| ¡  	¡ 7  _| j j
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rank0_onlyr%   Úedm_lossÚdemo_sample_action_mse_lossÚdemo_sample_action_l1_lossÚ#demo_sample_future_proprio_mse_lossÚ"demo_sample_future_proprio_l1_lossÚ'demo_sample_future_wrist_image_mse_lossÚ&demo_sample_future_wrist_image_l1_lossÚ!demo_sample_future_image_mse_lossÚ demo_sample_future_image_l1_lossÚdemo_sample_value_mse_lossÚdemo_sample_value_l1_lossÚ*world_model_sample_future_proprio_mse_lossÚ)world_model_sample_future_proprio_l1_lossÚ.world_model_sample_future_wrist_image_mse_lossÚ-world_model_sample_future_wrist_image_l1_lossÚ(world_model_sample_future_image_mse_lossÚ'world_model_sample_future_image_l1_lossÚ!world_model_sample_value_mse_lossÚ world_model_sample_value_l1_lossÚ$value_function_sample_value_mse_lossÚ#value_function_sample_value_l1_lossr   r   c                 S   s   i | ]
\}}d |› |“qS )ztimer/r   )Ú.0ÚkeyÚvaluer   r   r   Ú
<dictcomp>6  s    z6WandbCallback.on_training_step_end.<locals>.<dictcomp>Útrainú/image_lossú/image_edm_lossú/video_lossú/video_edm_lossú/lossú	/edm_lossú/demo_sample_action_mse_lossú/demo_sample_action_l1_lossú$/demo_sample_future_proprio_mse_lossú#/demo_sample_future_proprio_l1_lossú(/demo_sample_future_wrist_image_mse_lossú'/demo_sample_future_wrist_image_l1_lossú"/demo_sample_future_image_mse_lossú!/demo_sample_future_image_l1_lossú/demo_sample_value_mse_lossú/demo_sample_value_l1_lossú+/world_model_sample_future_proprio_mse_lossú*/world_model_sample_future_proprio_l1_lossú//world_model_sample_future_wrist_image_mse_lossú./world_model_sample_future_wrist_image_l1_lossú)/world_model_sample_future_image_mse_lossú(/world_model_sample_future_image_l1_lossú"/world_model_sample_value_mse_lossú!/world_model_sample_value_l1_lossú%/value_function_sample_value_mse_lossú$/value_function_sample_value_l1_lossz/train_img_unstable_countz/train_video_unstable_countrk   Úsample_counterús3://rundir/z/Train_IterÚ09dú.json©Ústep)>rG   ÚisnanÚisinfr	   ÚcriticalÚis_image_batchr0   r   Údetachr!   r   rq   r1   r2   r3   r4   r5   r6   r7   r8   r9   r:   r;   r<   r=   r>   r?   r@   rA   rB   rC   rD   rE   rF   rI   rJ   ÚconfigÚtrainerÚlogging_iterr&   Útraining_timerÚcompute_average_resultsr   r   r   r   ÚSUMr   Úis_rank0ÚitemsÚupdaterd   r   Úgetattrr(   r'   r   Údumpre   Úwandbr   Úzero_)7r   rh   ri   rj   r   rk   Ú skip_update_due_to_unstable_lossrr   rs   rt   ru   rv   rw   rx   ry   rz   r{   r|   r}   r~   r   r€   r   r‚   rƒ   r„   r…   Útimer_resultsÚavg_image_lossÚavg_image_edm_lossÚavg_video_lossÚavg_video_edm_lossÚavg_final_lossÚavg_final_edm_lossÚavg_demo_sample_action_mse_lossÚavg_demo_sample_action_l1_lossÚavg_future_proprio_mse_lossÚavg_future_proprio_l1_lossÚavg_future_wrist_image_mse_lossÚavg_future_wrist_image_l1_lossÚ%avg_demo_sample_future_image_mse_lossÚ$avg_demo_sample_future_image_l1_lossÚavg_demo_sample_value_mse_lossÚavg_demo_sample_value_l1_lossÚ.avg_world_model_sample_future_proprio_mse_lossÚ-avg_world_model_sample_future_proprio_l1_lossÚ2avg_world_model_sample_future_wrist_image_mse_lossÚ1avg_world_model_sample_future_wrist_image_l1_lossÚ,avg_world_model_sample_future_image_mse_lossÚ+avg_world_model_sample_future_image_l1_lossÚ%avg_world_model_sample_value_mse_lossÚ$avg_world_model_sample_value_l1_lossÚ(avg_value_function_sample_value_mse_lossÚ'avg_value_function_sample_value_l1_lossÚinfor   r   r   Úon_training_step_endw   sÆ  þ
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öõôóòñðïâÿ"ÿþþúþ
—z"WandbCallback.on_training_step_endc              	   C   s  d}t  |¡st  |¡r!d}tjd|› d|› d| |¡› dd |sé| |¡rL| j j| ¡  	¡ 7  _| j j
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d7  _
| j j|d  ¡  	¡ 7  _|d	  ¡  	¡ }t  |¡s­| j j|7  _| j j
d7  _
|d
  ¡  	¡ }t  |¡sÊ| j j|7  _| j j
d7  _
|d  ¡  	¡ }	t  |	¡sç| j j|	7  _| j j
d7  _
|d  ¡  	¡ }
t  |
¡s| j j|
7  _| j j
d7  _
|d  ¡  	¡ }t  |¡s#| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡sA| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡s_| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡s}| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡s›| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡s¹| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡s×| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡sõ| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡s| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡s1| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡sO| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡sm| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡s‹| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡s©| j j|7  _| j j
d7  _
|d  ¡  	¡ }t  |¡sÇ| j  j|7  _| j  j
d7  _
|d  ¡  	¡ }t  |¡sç| j! j|7  _| j! j
d7  _
dS dS | |¡rø|  j"d7  _"dS |  j#d7  _#dS )aj  
        Callback that is run after validation step is executed; similar to self.on_train_step_end().

        Things that are different from self.on_train_step_end():
            - No use of training timer
            - Using validation_iter instead of logging_iter
            - Doesn't do the push to WandB here; see self.on_validation_end() for that
        FTrl   rm   rn   ro   r%   rq   rr   rs   rt   ru   rv   rw   rx   ry   rz   r{   r|   r}   r~   r   r€   r   r‚   rƒ   r„   r…   N)$rG   r«   r¬   r	   r­   r®   rK   r   r¯   r!   r   rq   rL   rM   rN   rO   rP   rQ   rR   rS   rT   rU   rV   rW   rX   rY   rZ   r[   r\   r]   r^   r_   r`   ra   rb   rc   )r   rh   ri   rj   r   rk   r½   rr   rs   rt   ru   rv   rw   rx   ry   rz   r{   r|   r}   r~   r   r€   r   r‚   rƒ   r„   r…   r   r   r   Úon_validation_step_endq  sè   þ



ÿÿÿÿÿÿÿÿÿÿÿþz$WandbCallback.on_validation_step_endc                 C   s”  || j jj| j  dkrÈ| j ¡ \}}| j ¡ \}}| j ¡ \}}| j ¡ }	| j	 ¡ }
| j
 ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }| j ¡ }tj| jtjj d tj| j!tjj d t" #¡ r¼i }| $i d| j%› d|“d| j%› d|“d| j%› d|“d| j%› d|“d| j%› d|“d| j%› d	|“d| j%› d
|	“d| j%› d|
“d| j%› d|“d| j%› d|“d| j%› d|“d| j%› d|“d| j%› d|“d| j%› d|“d| j%› d|“d| j%› d|“d| j%› d|“d| j%› d|d| j%› d|d| j%› d|d| j%› d|d| j%› d|d| j%› d|d| j%› d|d| j%› d|d| j%› d|d| j%› d| j &¡ d| j%› d| j! &¡ i¥¡ | j'r¦|| j jj| j | j(  dkr¦t) *|d | j+› d!|d"›d#¡ t,r°t,j-||d$ t- .d%|› d&|d'›¡ | j /¡  | j! /¡  d(S d(S ))z9Computes and logs averages of all the validation metrics.r   r   Úvalr‹   rŒ   r   rŽ   r   r   r‘   r’   r“   r”   r•   r–   r—   r˜   r™   rš   r›   rœ   r   rž   rŸ   r    r¡   r¢   r£   r¤   z/val_img_unstable_countz/val_video_unstable_countr¦   z	/Val_Iterr§   r¨   r©   z!Validation final loss (iteration z): Ú4fN)0r°   r±   Úvalidation_iterr&   rK   r   rL   rM   rN   rO   rP   rQ   rR   rS   rT   rU   rV   rW   rX   rY   rZ   r[   r\   r]   r^   r_   r`   ra   r   r   rb   r   rµ   rc   r   r¶   r¸   rd   r   r(   r'   r   rº   re   r»   r	   rÙ   r¼   )r   rh   rk   r¿   rÀ   rÁ   rÂ   rÃ   rÄ   rÅ   rÆ   rÇ   rÈ   rÉ   rÊ   rË   rÌ   rÍ   rÎ   rÏ   rÐ   rÑ   rÒ   rÓ   rÔ   rÕ   rÖ   r×   rØ   rÙ   r   r   r   Úon_validation_end  sÎ   









ÿÿÿÿÿÿ




ÿþýüûúùø	÷
öõôóòñðïäÿ ÿþþúþ
zWandbCallback.on_validation_end)r%   r%   F©r   )r   r   r    r#   Úboolr/   r   ÚdictÚstrrG   ÚTensorrÚ   rÛ   rß   Ú__classcell__r   r   rf   r   r$   4   sZ    üþýüûHúþýüûú
ù  úþýüûú
ù  r$   z${upload_reproducible_setup}r%   é
   )r(   r&   r'   )r&   r'   r(   )r»   Ú	wandb_10xc                       sp   e Zd ZdZddeddf‡ fdd„Zdd	„ Z	
ddedee	e
jf dee	e
jf de
jdeddfdd„Z‡  ZS )ÚVideoLogCallbackzžLogs predicted future frame videos to wandb every N iterations.
    Uses the same inference path as test_libero_rollout.py with a fixed reference observation.éd   Úlog_every_n_itersr   Nc                    s2   t ƒ  ¡  || _d| _d | _d | _d | _d| _d S )NZvideo_log_callbackF)r.   r/   rê   re   Ú_ref_obsÚ	_ref_taskÚ_dataset_statsÚ_t5_cache_initialized)r   rê   rf   r   r   r/   €  s   

zVideoLogCallback.__init__c           	      C   s¨   | j durdS ddl}ddl}d}|j |¡r5t|dƒ}| |¡| _ W d  ƒ n1 s-w   Y  d| _ddlm	}m
} d}||ƒ| _| jsRd}||ƒ d	| _dS dS )
z2Load reference observation and dataset stats once.Nr   zGcosmos_policy/experiments/robot/libero/sample_libero_10_observation.pklÚrbz=put both the alphabet soup and the tomato sauce in the basket)Úload_dataset_statsÚinit_t5_text_embeddings_cachezFnvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_dataset_statistics.jsonz@nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_t5_embeddings.pklT)rë   ÚpickleÚosÚpathÚexistsÚopenÚloadrì   Ú,cosmos_policy.experiments.robot.cosmos_utilsrð   rñ   rí   rî   )	r   rò   ró   Zsample_pathÚfrð   rñ   Z
stats_pathZt5_pathr   r   r   Ú_ensure_reference_loaded‰  s$   
ÿ

ýz)VideoLogCallback._ensure_reference_loadedr   rh   ri   rj   r   rk   c           >   
   C   sH  t | dƒr| jsd| _n	|| j dkrd S t ¡ sd S zWdd l}ddlm} |  ¡  | j	d u r8t
 d¡ W d S ddlm} ddlm}	 |G dd	„ d	ƒƒ}
|
ƒ }dd
lm} d}| d¡}| d¡}| d¡}d }| j	d }|d ur&|d ur&||  ¡ }|d urˆ||  ¡ nd}|dkr&d|d d  }||d d …|f }| ddd¡ ¡  ¡  ¡ d d  dd¡ |j¡}| | |¡ d|j¡¡}|}|}|dkrd|d d  }||d d …|f }| ddd¡ ¡  ¡  ¡ d d  dd¡ |j¡}| | |¡ d|j¡¡}d|v r|d |  ¡  ¡  ¡ n| d¡}||| |j¡dœ}|d ur-|n| j	}| j }|j!} | "¡  t# $¡  |||| j%||ddd}!W d   ƒ n	1 sVw   Y  | rb| &¡  |! dd¡}"d }#z[|! d¡}$|! di ¡}%|% dd¡}&|$d urÄ|&dkrÄ| '|$¡}'d|&d d  }(|(d })|)|'j(d krÄ|'dd d …|(|)…f }*|* dddd¡ ¡  ¡  ¡ d d  dd¡ |j¡}#W n t)yà }+ zt
 d |+› ¡ W Y d }+~+nd }+~+ww d },d }-z›| d¡}| d¡}.| d¡}|d ur|.d urd}|.|  ¡ }/|/dkrEd|/d d  }0|0d }1|1|j(d krE||d d …|0|1…f }2|2 dddd¡ ¡  ¡  ¡ d d  dd¡ |j¡},|d ur||  ¡ }|dkrd|d d  }||d d …|f }3|3 ddd¡ ¡  ¡  ¡ d d  dd¡ |j¡}-W n t)y› }4 zt
 d!|4› ¡ W Y d }4~4nd }4~4ww d"}5dd l*}6|6j+|5dd# |#d urÍt,|#j(d ƒD ]}/| |#|/ ¡ -|5› d$|d%›d&|/› d'¡ qµ|,d urñt,|,j(d ƒD ]}/| |,|/ ¡ -|5› d$|d%›d(|/› d'¡ qÙt.rqd)|"i}7|#d ur,| | |¡ |#j(d |#j(d f|j¡¡}8|j/|8g|#gdd*}9t.j0|9 1dddd¡dd+d,|7d-< |,d urS|-d urA|j/|-g|,gdd*}:n|,}:t.j0|: 1dddd¡dd+d,|7d.< t.j
|7|d/ t
 2d0|› d1|"d2›d3|rid4nd5› ¡ W d S W d S  t)y£ }; z#dd l3}<d6|› d7|;› d8|< 4¡ › }=t
 5|=¡ t6|=dd9 W Y d };~;d S d };~;ww ):NÚ_logged_initialTr   )Ú
get_actionz1[VideoLogCallback] No reference observation foundr   )ÚOptionalc                   @   s¶   e Zd ZU dZeed< dZeed< dZe	ed< dZ
eed< dZe	ed< dZeed	< dZeed
< dZeed< dZeed< dZeed< dZeed< dZeed< dZe	ed< dZe	ed< dS )z6VideoLogCallback.on_training_step_end.<locals>._InfCfgZliberoÚsuiteTÚuse_third_person_imager%   Únum_third_person_imagesÚuse_wrist_imageÚnum_wrist_imagesÚuse_proprioÚnormalize_proprioÚunnormalize_actionsÚuse_jpeg_compressionÚtrained_with_image_augÚflip_imagesFÚuse_variance_scaleé   Ú
chunk_sizeé   Únum_denoising_steps_actionN)r   r   r    rþ   rã   r"   rÿ   rá   r   r#   r  r  r  r  r  r  r  r  r	  r  r  r   r   r   r   Ú_InfCfg¿  s   
 r  )ÚImageÚcurrent_image_latent_idxÚcurrent_wrist_image_latent_idxÚvideoÚprimary_imageéÿÿÿÿr%   é   é   g     à_@éÿ   )é   r  Úproprioé	   )r  Úwrist_imager  r  )r  Z+generate_future_state_and_value_in_parallelZvalue_predictionZgenerated_latentÚlatent_indicesÚfuture_image_latent_idxé   z3[VideoLogCallback] Failed to decode pred 4 frames: z0[VideoLogCallback] Failed to extract GT frames: zA/data/cameron/vidgen/cosmos-policy/rollout_outputs/training_debug)Úexist_okz/iterÚ06dZ_pred_z.pngÚ_gt_zvideo/value_prediction)ÚaxisÚmp4)ÚfpsÚformatzvideo/pred_rolloutzvideo/gt_rolloutr©   z3[VideoLogCallback] Logged pred + GT videos at iter z, value=z.3fz, batch_obs=ÚyesÚnoz'[VideoLogCallback] Failed at iteration z: Ú
)Úflush)7Úhasattrrû   rê   r   r¶   Únumpyrø   rü   rú   rë   r	   ÚwarningÚdataclassesr   Útypingrý   ÚPILr  Úgetr   ÚpermuteÚcpur!   ÚclipÚastypeÚuint8ÚarrayÚ	fromarrayÚresizeÚBILINEARrH   Úfloat64rì   ÚtrainingÚevalrG   Úinference_moderí   rŠ   ÚdecodeÚshapeÚ	Exceptionró   ÚmakedirsÚrangeÚsaver»   ÚconcatenateÚVideoÚ	transposerÙ   Ú	tracebackÚ
format_excr­   Úprint)>r   rh   ri   rj   r   rk   Únprü   r   rý   r  ÚcfgÚPILImageÚbZcurrent_img_idxZwrist_img_idxZgt_videoZobs_from_batchZ	input_imgÚciÚwiÚcsÚ
curr_frameZcurr_npZcurr_256Z	wrist_256ÚwsZwrist_frameZwrist_npr  Z
obs_to_useZ	task_descÚwas_trainingÚresultrˆ   Zpred_four_framesZ
gen_latentr  ZfidxZdecoded_fullZpixel_startZ	pixel_endZfuture_pixelsÚe4Zgt_four_framesZgt_current_frameZfuture_img_idxÚfiÚpsÚpeZgt_futZgt_currÚe5Z	debug_dirró   Zlog_dictZinp_resizedZpred_vidZgt_vidÚerG  Úerr_msgr   r   r   rÚ   ¡  s  	
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€üz%VideoLogCallback.on_training_step_end)ré   rà   )r   r   r    Ú__doc__r#   r/   rú   r   râ   rã   rG   rä   rÚ   rå   r   r   rf   r   rè   |  s$    	úþýüûúùrè   ré   )rê   )r»   rç   Z	video_logc                  C   s   t  ¡ } | jdddtd d S )NÚ	callbacksztrainer.callbacksÚwandb_callback_actions)ÚgroupÚpackagere   Únode)r   ÚinstanceÚstoreÚWANDB_CALLBACK_ACTIONS)rP  r   r   r   Úregister_configsm  s   
üre  ) r-  r   r.  r   rG   Útorch.distributedr   r   Útorch.utils.datar»   Úhydra.core.config_storer   Ú)cosmos_policy._src.imaginaire.lazy_configr   ÚLÚ#cosmos_policy._src.imaginaire.modelr   Ú#cosmos_policy._src.imaginaire.utilsr	   Z,cosmos_policy._src.imaginaire.utils.callbackr
   ZWandBCallbackImageÚ+cosmos_policy._src.imaginaire.utils.easy_ior   Ú/cosmos_policy._src.predict2.callbacks.wandb_logr   r   r$   râ   rd  rè   re  r   r   r   r   Ú<module>   sd       >ýýú aýýÿõ