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Wed May 27 01:03:32 PM PST 2026

==========
== CUDA ==
==========

CUDA Version 12.8.1

Container image Copyright (c) 2016-2023, NVIDIA CORPORATION & AFFILIATES. All rights reserved.

This container image and its contents are governed by the NVIDIA Deep Learning Container License.
By pulling and using the container, you accept the terms and conditions of this license:
https://developer.nvidia.com/ngc/nvidia-deep-learning-container-license

A copy of this license is made available in this container at /NGC-DL-CONTAINER-LICENSE for your convenience.

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ffmpeg version 4.4.2-0ubuntu0.22.04.1 Copyright (c) 2000-2021 the FFmpeg developers

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Downloading 'ah_K25/all_failed_2x.mp4' to 'checkpoints/cutlery-act-v3/.cache/huggingface/download/ah_K25/UQDKVO6RM8CiRMHEIfN2bplOCV0=.829d2ec2199180365b7097eb39f60f2486732820785cbebd2c3fff19106a7f36.incomplete'
Downloading 'config.json' to 'checkpoints/cutlery-act-v3/.cache/huggingface/download/8_PA_wEVGiVa2goH2H4KQOQpvVY=.e2d222ad8baa3ac74823bf2a8ac6376bd859c0ee.incomplete'

Fetching 45 files:   2%|▏         | 1/45 [00:00<00:26,  1.63it/s]Download complete. Moving file to checkpoints/cutlery-act-v3/config.json
Download complete. Moving file to checkpoints/cutlery-act-v3/ah_K25/all_failed_2x.mp4

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/workspace/aicapstone/checkpoints/cutlery-act-v3
[INFO][AppLauncher]: Using device: cuda
[INFO][AppLauncher]: Loading experience file: /workspace/aicapstone/dependencies/IsaacLab/apps/isaaclab.python.headless.rendering.kit
[Info] [carb] Logging to file: /usr/local/lib/python3.11/dist-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260527_050518.log
2026-05-27T05:05:20Z [1,942ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-05-27T05:05:20Z [1,942ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-05-27T05:05:20Z [2,111ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.

|---------------------------------------------------------------------------------------------|
| Driver Version: 580.159.03    | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 3060          | Yes: 0 |     | 12534   MB | 10de      | 0          |
|     |                                  |        |     |            | 2504      | 032c9579.. |
|     |                                  |        |     |            | 1         |            |
|=============================================================================================|
| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.17.0-29-generic
| Processor: Intel(R) Core(TM) i5-10500 CPU @ 3.10GHz
| Cores: 6 | Logical Cores: 12
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 31934 | Free Memory: 28885
| Total Page/Swap (MB): 4095 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
2026-05-27T05:05:21Z [3,076ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
2026-05-27T05:05:24Z [6,449ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-05-27T05:05:24Z [6,449ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-05-27T05:05:24Z [6,625ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-05-27T05:05:24Z [6,625ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-05-27T05:05:24Z [6,634ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-05-27T05:05:24Z [6,634ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-05-27T05:05:25Z [6,738ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-05-27T05:05:25Z [6,739ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-05-27T05:05:25Z [6,741ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-05-27T05:05:25Z [6,741ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-05-27T05:05:25Z [6,742ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-05-27T05:05:25Z [6,742ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-05-27T05:05:26Z [7,849ms] [Warning] [omni.log] Source: omni.hydra was already registered.
2026-05-27T05:05:27Z [9,481ms] [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.
2026-05-27T05:05:27Z [9,545ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
2026-05-27T05:05:33Z [14,921ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
2026-05-27T05:05:33Z [15,321ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
2026-05-27T05:05:33Z [15,321ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
2026-05-27T05:05:33Z [15,322ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
2026-05-27T05:06:23Z [64,892ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7

[rollout] importing external task module 'cutlery_arrangement_eval_deterministic' from /workspace/aicapstone/eval
[INFO]: Parsing configuration from: cutlery_arrangement_eval_deterministic:CutleryArrangementEnvCfg

======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-05-27_05-08-17.log
======================================================================================

05:08:18 [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.
[INFO]: Base environment:
	Environment device    : cuda:0
	Environment seed      : 1779858497
	Physics step-size     : 0.016666666666666666
	Rendering step-size   : 0.016666666666666666
	Environment step-size : 0.016666666666666666
05:08:20 [prims.py] WARNING: Could not perform 'modify_mass_properties' on any prims under: '/World/envs/env_0/Scene/plate'. This might be because of the following reasons:
	(1) The desired attribute does not exist on any of the prims.
	(2) The desired attribute exists on an instanced prim.
		Discovered list of instanced prim paths: []
05:08:20 [prims.py] WARNING: Could not perform 'modify_mass_properties' on any prims under: '/World/envs/env_0/Scene/knife'. This might be because of the following reasons:
	(1) The desired attribute does not exist on any of the prims.
	(2) The desired attribute exists on an instanced prim.
		Discovered list of instanced prim paths: []
05:08:20 [prims.py] WARNING: Could not perform 'modify_mass_properties' on any prims under: '/World/envs/env_0/Scene/fork'. This might be because of the following reasons:
	(1) The desired attribute does not exist on any of the prims.
	(2) The desired attribute exists on an instanced prim.
		Discovered list of instanced prim paths: []
[INFO]: Time taken for scene creation : 1.512095 seconds
[INFO]: Scene manager:  <class InteractiveScene>
	Number of environments: 1
	Environment spacing   : 8.0
	Source prim name      : /World/envs/env_0
	Global prim paths     : []
	Replicate physics     : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
2026-05-27T05:08:26Z [188,038ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 278) is below minimal input resolution of 300.
[INFO]: Time taken for simulation start : 6.238421 seconds
[INFO] Command Manager:  <CommandManager> contains 0 active terms.
+------------------------+
|  Active Command Terms  |
+--------+-------+-------+
| Index  | Name  |  Type |
+--------+-------+-------+
+--------+-------+-------+

[INFO] Event Manager:  <EventManager> contains 1 active terms.
+---------------------------------+
| Active Event Terms in Mode: 'reset' |
+------------+--------------------+
|   Index    | Name               |
+------------+--------------------+
|     0      | reset_all          |
+------------+--------------------+

[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
+---------------------+
| Active Recorder Terms |
+-----------+---------+
|   Index   | Name    |
+-----------+---------+
+-----------+---------+

[INFO] Action Manager:  <ActionManager> contains 2 active terms.
+------------------------------------+
|   Active Action Terms (shape: 8)   |
+-------+----------------+-----------+
| Index | Name           | Dimension |
+-------+----------------+-----------+
|   0   | arm_action     |         7 |
|   1   | gripper_action |         1 |
+-------+----------------+-----------+

[INFO] Observation Manager: <ObservationManager> contains 1 groups.
+-----------------------------------------------+
|  Active Observation Terms in Group: 'policy'  |
+--------+--------------------+-----------------+
| Index  | Name               |      Shape      |
+--------+--------------------+-----------------+
|   0    | joint_pos          |       (9,)      |
|   1    | joint_vel          |       (9,)      |
|   2    | joint_pos_rel      |       (9,)      |
|   3    | joint_vel_rel      |       (9,)      |
|   4    | actions            |       (8,)      |
|   5    | wrist              |  (480, 640, 3)  |
|   6    | front              |  (480, 640, 3)  |
|   7    | joint_pos_target   |       (9,)      |
+--------+--------------------+-----------------+

[INFO] Termination Manager:  <TerminationManager> contains 1 active terms.
+-----------------------------+
|   Active Termination Terms  |
+-------+----------+----------+
| Index | Name     | Time Out |
+-------+----------+----------+
|   0   | time_out |   True   |
+-------+----------+----------+

[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
+-----------------------+
|  Active Reward Terms  |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+

[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
+----------------------+
| Active Curriculum Terms |
+-----------+----------+
|   Index   | Name     |
+-----------+----------+
+-----------+----------+

[INFO]: Completed setting up the environment...
[rollout] warming up renderer (20 app updates)...
[rollout] resetting environment...
[rollout] env.reset() returned
[rollout] camera_infos = {'wrist': (480, 640), 'front': (480, 640)}; loading policy...
Loading local LeRobot policy 'act' from checkpoints/cutlery-act-v3...
[rollout] stripped LeRobot-incompatible config fields: ['use_peft']
Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /root/.cache/torch/hub/checkpoints/resnet18-f37072fd.pth

  0%|          | 0.00/44.7M [00:00<?, ?B/s]
 22%|██▏       | 9.62M/44.7M [00:00<00:00, 101MB/s]
 44%|████▍     | 19.8M/44.7M [00:00<00:00, 103MB/s]
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100%|██████████| 44.7M/44.7M [00:00<00:00, 104MB/s]
Loading weights from local directory
Local LeRobot policy is ready.
Viewports docked: [Viewport (Persp)] | [Viewport 2 (Camera)]
[Evaluation] Evaluating episode 1...
2026-05-27T05:08:30Z [192,345ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
[Evaluation] Episode 1 failed (final-state check).
[video] saved /workspace/aicapstone/experiments/act_cutlery_v3/diagnostics/deterministic_eval/videos/ep_01_failed.mp4 (600 frames)
[Evaluation] now success rate: 0.0  [0/1]
[Evaluation] Evaluating episode 2...
[Evaluation] Episode 2 failed (final-state check).
[video] saved /workspace/aicapstone/experiments/act_cutlery_v3/diagnostics/deterministic_eval/videos/ep_02_failed.mp4 (600 frames)
[Evaluation] now success rate: 0.0  [0/2]
[Evaluation] Evaluating episode 3...
[Evaluation] Episode 3 failed (final-state check).
[video] saved /workspace/aicapstone/experiments/act_cutlery_v3/diagnostics/deterministic_eval/videos/ep_03_failed.mp4 (600 frames)
[Evaluation] now success rate: 0.0  [0/3]
[Evaluation] Evaluating episode 4...
[Evaluation] Episode 4 failed (final-state check).
[video] saved /workspace/aicapstone/experiments/act_cutlery_v3/diagnostics/deterministic_eval/videos/ep_04_failed.mp4 (600 frames)
[Evaluation] now success rate: 0.0  [0/4]
[Evaluation] Evaluating episode 5...
[Evaluation] Episode 5 failed (final-state check).
[video] saved /workspace/aicapstone/experiments/act_cutlery_v3/diagnostics/deterministic_eval/videos/ep_05_failed.mp4 (600 frames)
[Evaluation] now success rate: 0.0  [0/5]
[Evaluation] Final success rate: 0.000  [0/5]
/usr/lib/python3.11/multiprocessing/resource_tracker.py:254: UserWarning: resource_tracker: There appear to be 1 leaked semaphore objects to clean up at shutdown
  warnings.warn('resource_tracker: There appear to be %d '
=== deterministic done ===
Wed May 27 01:20:38 PM PST 2026
Processing /home/threedavatar/Fran/ai-capstone26/aicapstone/experiments/act_cutlery_v3/diagnostics/deterministic_eval/videos/...
  no success videos to concat
  concatenating 5 failed videos → /home/threedavatar/Fran/ai-capstone26/aicapstone/experiments/act_cutlery_v3/diagnostics/deterministic_eval/all_failed.mp4
  ✓ wrote /home/threedavatar/Fran/ai-capstone26/aicapstone/experiments/act_cutlery_v3/diagnostics/deterministic_eval/all_failed.mp4 (22M)
Done.