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Upload rollout file dining_act_v1_9_200k_eval100_with_video.log

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  1. rollout/dining_act_v1_9_200k_eval100_with_video.log +266 -0
rollout/dining_act_v1_9_200k_eval100_with_video.log ADDED
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+ [INFO][AppLauncher]: Using device: cuda
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+ [INFO][AppLauncher]: Loading experience file: /workspace/aicapstone/dependencies/IsaacLab/apps/isaaclab.python.rendering.kit
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+ Loading user config located at: '/usr/local/lib/python3.11/dist-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
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+ [Info] [carb] Logging to file: /usr/local/lib/python3.11/dist-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260605_044341.log
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+
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+ | | | | | | 2b85 | c6b4ac3e.. |
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+ |=============================================================================================|
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+ | OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.17.0-29-generic
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+ | Processor: AMD Ryzen 9 9900X 12-Core Processor
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+ | Cores: 12 | Logical Cores: 24
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+ |---------------------------------------------------------------------------------------------|
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+ | Total Memory (MB): 61922 | Free Memory: 58295
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+ |---------------------------------------------------------------------------------------------|
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+ 2026-06-05T04:43:42Z [655ms] [Warning] [gpu.foundation.plugin] PCIe link width current (8) and maximum (16) for device 0 don't match.
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+ 2026-06-05T04:43:42Z [1,256ms] [Warning] [omni.log] Source: omni.hydra was already registered.
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+ 2026-06-05T04:43:43Z [1,369ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
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+ 2026-06-05T04:43:43Z [1,408ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
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+ 2026-06-05T04:43:44Z [2,708ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
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+ 2026-06-05T04:43:44Z [2,907ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
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+ 2026-06-05T04:43:44Z [2,907ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
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+ 2026-06-05T04:43:44Z [2,907ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
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+
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+ 2026-06-05T04:43:45Z [4,042ms] [Warning] [rtx.neuraylib.plugin] [LINK:PLUGIN] 0.0 LINK plug warn : Loading /usr/local/lib/python3.11/dist-packages/isaacsim/extscache/omni.iray.libs-0.0.0+69cbf6ad.lx64.r/bin/iray/nvcuvid_video_decoder.so: libnvcuvid.so.1: cannot open shared object file: No such file or directory
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+ 2026-06-05T04:43:45Z [4,042ms] [Warning] [rtx.neuraylib.plugin] [LINK:PLUGIN] 0.0 LINK plug warn : Loading .\nt-x86-64\lib\nvcuvid_video_decoder.so: .\nt-x86-64\lib\nvcuvid_video_decoder.so: cannot open shared object file: No such file or directory
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+ 2026-06-05T04:43:45Z [4,042ms] [Warning] [rtx.neuraylib.plugin] Failed to load nvcuvid h264 decoder plugin. Iray Bridge h264 support will not be available.
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+ 2026-06-05T04:43:46Z [4,350ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions.
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+ 2026-06-05T04:43:46Z [4,350ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled.
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+ 2026-06-05T04:43:46Z [4,350ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context.
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+ 2026-06-05T04:43:46Z [4,350ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context.
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+ [INFO]: Parsing configuration from: simulator.tasks.dining_cleanup.dining_cleanup_env_cfg:DiningCleanupEnvCfg
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+ [rollout] loaded 100 object pose episodes from data/dining_clean/dining_cleanup_object_poses_100.json
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+
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+ ======================================================================================
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+ [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-05_04-43-49.log
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+ ======================================================================================
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+
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+ 04:43:49 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
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+ [INFO]: Base environment:
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+ Environment device : cuda:0
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+ Environment seed : 2026053002
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+ Physics step-size : 0.016666666666666666
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+ Rendering step-size : 0.016666666666666666
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+ Environment step-size : 0.016666666666666666
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+ [INFO]: Time taken for scene creation : 1.681420 seconds
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+ [INFO]: Scene manager: <class InteractiveScene>
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+ Number of environments: 1
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+ Environment spacing : 8.0
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+ Source prim name : /World/envs/env_0
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+ Global prim paths : []
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+ Replicate physics : True
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+ [INFO]: Starting the simulation. This may take a few seconds. Please wait...
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+ 2026-06-05T04:43:52Z [10,377ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[]
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+ 2026-06-05T04:43:52Z [10,378ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
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+ 2026-06-05T04:43:52Z [10,378ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
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+ 2026-06-05T04:43:52Z [10,378ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
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+ 2026-06-05T04:43:52Z [11,212ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
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+ 2026-06-05T04:43:52Z [11,212ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
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+ 2026-06-05T04:43:52Z [11,212ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
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+ [INFO]: Time taken for simulation start : 1.411290 seconds
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+ [INFO] Command Manager: <CommandManager> contains 0 active terms.
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+ +------------------------+
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+ | Active Command Terms |
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+ +--------+-------+-------+
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+ | Index | Name | Type |
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+ +--------+-------+-------+
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+ +--------+-------+-------+
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+
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+ [INFO] Event Manager: <EventManager> contains 1 active terms.
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+ +---------------------------------+
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+ | Active Event Terms in Mode: 'reset' |
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+ +------------+--------------------+
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+ | Index | Name |
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+ +------------+--------------------+
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+ | 0 | reset_all |
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+ +------------+--------------------+
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+
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+ [INFO] Recorder Manager: <RecorderManager> contains 0 active terms.
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+ +---------------------+
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+ | Active Recorder Terms |
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+ +-----------+---------+
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+ | Index | Name |
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+ +-----------+---------+
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+ +-----------+---------+
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+
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+ [INFO] Action Manager: <ActionManager> contains 2 active terms.
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+ +------------------------------------+
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+ | Active Action Terms (shape: 8) |
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+ +-------+----------------+-----------+
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+ | Index | Name | Dimension |
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+ +-------+----------------+-----------+
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+ | 0 | arm_action | 7 |
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+ | 1 | gripper_action | 1 |
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+ +-------+----------------+-----------+
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+
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+ [INFO] Observation Manager: <ObservationManager> contains 1 groups.
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+ +-----------------------------------------------+
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+ | Active Observation Terms in Group: 'policy' |
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+ +--------+--------------------+-----------------+
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+ | Index | Name | Shape |
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+ +--------+--------------------+-----------------+
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+ | 0 | joint_pos | (9,) |
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+ | 1 | joint_vel | (9,) |
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+ | 2 | joint_pos_rel | (9,) |
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+ | 3 | joint_vel_rel | (9,) |
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+ | 4 | actions | (8,) |
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+ | 5 | wrist | (480, 640, 3) |
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+ | 6 | front | (480, 640, 3) |
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+ | 7 | joint_pos_target | (9,) |
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+ +--------+--------------------+-----------------+
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+
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+ [INFO] Termination Manager: <TerminationManager> contains 2 active terms.
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+ +-----------------------------+
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+ | Active Termination Terms |
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+ +-------+----------+----------+
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+ | Index | Name | Time Out |
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+ +-------+----------+----------+
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+ | 0 | time_out | True |
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+ | 1 | success | False |
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+ +-------+----------+----------+
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+
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+ [INFO] Reward Manager: <RewardManager> contains 0 active terms.
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+ +-----------------------+
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+ | Active Reward Terms |
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+ +-------+------+--------+
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+ | Index | Name | Weight |
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+ +-------+------+--------+
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+ +-------+------+--------+
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+
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+ [INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
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+ +----------------------+
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+ | Active Curriculum Terms |
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+ +-----------+----------+
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+ | Index | Name |
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+ +-----------+----------+
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+ +-----------+----------+
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+
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+ Creating window for environment.
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+ [INFO]: Completed setting up the environment...
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+ [rollout] warming up renderer (20 app updates)...
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+ [rollout] resetting environment...
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+ [rollout] env.reset() returned
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+ [rollout] applying object pose episode 1/100
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+ [eval pose] bowl: pos=(0.175, -0.461, 0.050)
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+ [eval pose] spoon: pos=(0.117, -0.239, 0.050)
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+ [rollout] camera_infos = {'wrist': (480, 640), 'front': (480, 640)}; loading policy...
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+ Loading local LeRobot policy 'act' from outputs/train/act_dining_cleanup_v1_9_20260604_010924/checkpoints/200000/pretrained_model...
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+ Loading weights from local directory
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+ Local LeRobot policy is ready.
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+ 2026-06-05T04:43:53Z [12,254ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
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+ 2026-06-05T04:43:53Z [12,254ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant)
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+ 2026-06-05T04:43:53Z [12,254ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
165
+ 2026-06-05T04:43:53Z [12,254ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:ior_constant)
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+ 2026-06-05T04:43:53Z [12,254ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
167
+ 2026-06-05T04:43:53Z [12,254ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray<std::string> (prim attribute: omni:rtx:material:db:flattener:transmittance_color)
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+ Viewports docked: [Viewport (Persp)] | [Viewport 2 (Camera)]
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+ [video] recording rollout videos to outputs/rollout/dining_act_v1_9_200k_eval100_videos from cameras=['wrist', 'front'] at 10 fps
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+ [Evaluation] Evaluating episode 1...
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+ 2026-06-05T04:43:54Z [13,095ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
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+ [Evaluation] Episode 1 timed out!
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+ [Evaluation] Episode 1 stage status: tableware=success (bowl_xy=success, spoon_xy=success), wiping=fail (coverage=fail, coverage_ratio=0.000, threshold=0.687, ideal=0.982, required=70%), protected=fail (tissue=success, vase=fail), overall=fail
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+ [video] saved outputs/rollout/dining_act_v1_9_200k_eval100_videos/ep_01_failed.mp4 (800 frames)
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+ [rollout] resetting environment...
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+ [rollout] env.reset() returned
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+ [rollout] applying object pose episode 2/100
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+ [eval pose] spoon: pos=(0.149, -0.238, 0.050)
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+ [eval pose] bowl: pos=(0.151, -0.474, 0.050)
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+ [Evaluation] now success rate: 0.0 [0/1]
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+ [Evaluation] Evaluating episode 2...
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+ [Evaluation] Episode 2 timed out!
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+ [Evaluation] Episode 2 stage status: tableware=success (bowl_xy=success, spoon_xy=success), wiping=fail (coverage=fail, coverage_ratio=0.000, threshold=0.687, ideal=0.982, required=70%), protected=success (tissue=success, vase=success), overall=fail
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+ [video] saved outputs/rollout/dining_act_v1_9_200k_eval100_videos/ep_02_failed.mp4 (800 frames)
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+ [rollout] resetting environment...
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+ [rollout] env.reset() returned
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+ [rollout] applying object pose episode 3/100
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+ [eval pose] spoon: pos=(0.117, -0.266, 0.050)
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+ [eval pose] bowl: pos=(0.177, -0.497, 0.050)
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+ [Evaluation] now success rate: 0.0 [0/2]
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+ [Evaluation] Evaluating episode 3...
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+ [Evaluation] Episode 3 timed out!
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+ [Evaluation] Episode 3 stage status: tableware=fail (bowl_xy=fail, spoon_xy=fail), wiping=fail (coverage=fail, coverage_ratio=0.000, threshold=0.687, ideal=0.982, required=70%), protected=success (tissue=success, vase=success), overall=fail
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+ [video] saved outputs/rollout/dining_act_v1_9_200k_eval100_videos/ep_03_failed.mp4 (800 frames)
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+ [rollout] resetting environment...
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+ [rollout] env.reset() returned
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+ [rollout] applying object pose episode 4/100
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+ [eval pose] bowl: pos=(0.122, -0.494, 0.050)
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+ [eval pose] spoon: pos=(0.112, -0.228, 0.050)
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+ [Evaluation] now success rate: 0.0 [0/3]
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+ [Evaluation] Evaluating episode 4...
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+ [Evaluation] Episode 4 is successful!
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+ [Evaluation] Episode 4 stage status: tableware=success (bowl_xy=success, spoon_xy=success), wiping=success (coverage=success, coverage_ratio=0.688, threshold=0.687, ideal=0.982, required=70%), protected=success (tissue=success, vase=success), overall=success
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+ [video] saved outputs/rollout/dining_act_v1_9_200k_eval100_videos/ep_04_success.mp4 (778 frames)
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+ [rollout] resetting environment...
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+ [rollout] env.reset() returned
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+ [rollout] applying object pose episode 5/100
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+ [eval pose] bowl: pos=(0.147, -0.232, 0.050)
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+ [eval pose] spoon: pos=(0.146, -0.494, 0.050)
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+ [Evaluation] now success rate: 0.25 [1/4]
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+ [Evaluation] Evaluating episode 5...
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+ [Evaluation] Episode 5 is successful!
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+ [Evaluation] Episode 5 stage status: tableware=success (bowl_xy=success, spoon_xy=success), wiping=success (coverage=success, coverage_ratio=0.690, threshold=0.687, ideal=0.982, required=70%), protected=success (tissue=success, vase=success), overall=success
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+ [video] saved outputs/rollout/dining_act_v1_9_200k_eval100_videos/ep_05_success.mp4 (795 frames)
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+ [rollout] resetting environment...
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+ [rollout] env.reset() returned
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+ [rollout] applying object pose episode 6/100
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+ [eval pose] bowl: pos=(0.169, -0.253, 0.050)
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+ [eval pose] spoon: pos=(0.131, -0.470, 0.050)
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+ [Evaluation] now success rate: 0.4 [2/5]
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+ [Evaluation] Evaluating episode 6...
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+ [Evaluation] Episode 6 timed out!
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+ [Evaluation] Episode 6 stage status: tableware=fail (bowl_xy=fail, spoon_xy=fail), wiping=fail (coverage=fail, coverage_ratio=0.000, threshold=0.687, ideal=0.982, required=70%), protected=success (tissue=success, vase=success), overall=fail
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+ [video] saved outputs/rollout/dining_act_v1_9_200k_eval100_videos/ep_06_failed.mp4 (800 frames)
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+ [rollout] resetting environment...
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+ [rollout] env.reset() returned
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+ [rollout] applying object pose episode 7/100
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+ [eval pose] bowl: pos=(0.125, -0.222, 0.050)
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+ [eval pose] spoon: pos=(0.155, -0.492, 0.050)
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+ [Evaluation] now success rate: 0.3333333333333333 [2/6]
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+ [Evaluation] Evaluating episode 7...
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+ [Evaluation] Episode 7 is successful!
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+ [Evaluation] Episode 7 stage status: tableware=success (bowl_xy=success, spoon_xy=success), wiping=success (coverage=success, coverage_ratio=0.688, threshold=0.687, ideal=0.982, required=70%), protected=success (tissue=success, vase=success), overall=success
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+ [video] saved outputs/rollout/dining_act_v1_9_200k_eval100_videos/ep_07_success.mp4 (573 frames)
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+ [rollout] resetting environment...
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+ [rollout] env.reset() returned
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+ [rollout] applying object pose episode 8/100
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+ [eval pose] spoon: pos=(0.158, -0.240, 0.050)
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+ [eval pose] bowl: pos=(0.103, -0.457, 0.050)
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+ [Evaluation] now success rate: 0.42857142857142855 [3/7]
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+ [Evaluation] Evaluating episode 8...
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+ [Evaluation] Episode 8 timed out!
243
+ [Evaluation] Episode 8 stage status: tableware=fail (bowl_xy=fail, spoon_xy=fail), wiping=fail (coverage=fail, coverage_ratio=0.000, threshold=0.687, ideal=0.982, required=70%), protected=success (tissue=success, vase=success), overall=fail
244
+ [video] saved outputs/rollout/dining_act_v1_9_200k_eval100_videos/ep_08_failed.mp4 (800 frames)
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+ [rollout] resetting environment...
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+ [rollout] env.reset() returned
247
+ [rollout] applying object pose episode 9/100
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+ [eval pose] bowl: pos=(0.122, -0.238, 0.050)
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+ [eval pose] spoon: pos=(0.144, -0.477, 0.050)
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+ [Evaluation] now success rate: 0.375 [3/8]
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+ [Evaluation] Evaluating episode 9...
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+ [Evaluation] Episode 9 is successful!
253
+ [Evaluation] Episode 9 stage status: tableware=success (bowl_xy=success, spoon_xy=success), wiping=success (coverage=success, coverage_ratio=0.693, threshold=0.687, ideal=0.982, required=70%), protected=success (tissue=success, vase=success), overall=success
254
+ [video] saved outputs/rollout/dining_act_v1_9_200k_eval100_videos/ep_09_success.mp4 (551 frames)
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+ [rollout] resetting environment...
256
+ [rollout] env.reset() returned
257
+ [rollout] applying object pose episode 10/100
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+ [eval pose] bowl: pos=(0.107, -0.263, 0.050)
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+ [eval pose] spoon: pos=(0.148, -0.487, 0.050)
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+ [Evaluation] now success rate: 0.4444444444444444 [4/9]
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+ [Evaluation] Evaluating episode 10...
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+ [Evaluation] Episode 10 is successful!
263
+ [Evaluation] Episode 10 stage status: tableware=success (bowl_xy=success, spoon_xy=success), wiping=success (coverage=success, coverage_ratio=0.690, threshold=0.687, ideal=0.982, required=70%), protected=success (tissue=success, vase=success), overall=success
264
+ [video] saved outputs/rollout/dining_act_v1_9_200k_eval100_videos/ep_10_success.mp4 (552 frames)
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+ [Evaluation] now success rate: 0.5 [5/10]
266
+ [Evaluation] Final success rate: 0.500 [5/10]