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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/resolved_config.yaml

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+experiment_name: fewshot_39tasks_5shot_from_baseline26_fullactionhead_seed0
+policy_type: baseline
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-120000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 0
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed0.json
+  save_total_limit: 4
+phases:
+- name: train_5shot_seed0_fullactionhead_12k
+  max_steps: 12000
+  save_steps: 0
+  save_step_list:
+  - 2000
+  - 5000
+  - 8000
+  - 12000
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+resolved_sweep: {}

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/seed0.yaml

@@ -0,0 +1,27 @@
+experiment_name: fewshot_39tasks_5shot_from_baseline26_fullactionhead_seed0
+policy_type: baseline
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-120000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 0
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed0.json
+  save_total_limit: 4
+phases:
+- name: train_5shot_seed0_fullactionhead_12k
+  max_steps: 12000
+  save_steps: 0
+  save_step_list:
+  - 2000
+  - 5000
+  - 8000
+  - 12000
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-12000/config.json

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+}

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-12000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-2000/config.json

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+        "should_epoch_stop": false,
+        "should_evaluate": false,
+        "should_log": false,
+        "should_save": true,
+        "should_training_stop": false
+      },
+      "attributes": {}
+    }
+  },
+  "total_flos": 0.0,
+  "train_batch_size": 64,
+  "trial_name": null,
+  "trial_params": null
+}

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/config.json

@@ -0,0 +1,64 @@
+{
+  "action_dim": 32,
+  "action_head_cfg": {
+    "action_dim": 32,
+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "backbone_embedding_dim": 2048,
+    "diffusion_model_cfg": {
+      "attention_head_dim": 48,
+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
+      "num_attention_heads": 32,
+      "num_layers": 16,
+      "output_dim": 1024,
+      "positional_embeddings": null
+    },
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "max_action_dim": 32,
+    "max_state_dim": 64,
+    "model_dtype": "float32",
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
+    "use_vlln": true,
+    "vl_self_attention_cfg": {
+      "attention_head_dim": 64,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "num_attention_heads": 32,
+      "num_layers": 4,
+      "positional_embeddings": null
+    }
+  },
+  "action_horizon": 16,
+  "architectures": [
+    "GR00T_N1_5"
+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
+    "project_to_dim": null,
+    "reproject_vision": false,
+    "select_layer": 12,
+    "tune_llm": false,
+    "tune_visual": true,
+    "use_flash_attention": true
+  },
+  "compute_dtype": "bfloat16",
+  "hidden_size": 2048,
+  "model_dtype": "float32",
+  "model_type": "gr00t_n1_5",
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_no_video/checkpoint-5000/eval.log

@@ -0,0 +1,212 @@
+[Thu Jul  2 10:00:57 KST 2026] START gpu=0 port=18650 ckpt=5000
+model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-5000
+video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_no_video/checkpoint-5000
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-5000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-5000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-5000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:18650
+dict_keys(['video', 'state', 'action', 'language'])
+Fewshot video recording: off
+Running simulation for CheesyBread...
+Running 50 episodes for robocasa/CheesyBread with 10 environments
+Creating CheesyBread with split=pretrain
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+[Thu Jul  2 10:03:33 KST 2026] START gpu=0 port=18650 ckpt=5000
+model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-5000
+video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_no_video/checkpoint-5000
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-5000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-5000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/checkpoint-5000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:18650
+dict_keys(['video', 'state', 'action', 'language'])
+Fewshot video recording: off
+Running simulation for CheesyBread...
+Running 50 episodes for robocasa/CheesyBread with 10 environments
+Creating CheesyBread with split=pretrain

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed0/default/train_5shot_seed0_fullactionhead_12k/experiment_cfg/metadata.json

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+            }
+        },
+        "embodiment_tag": "new_embodiment"
+    }
+}

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/resolved_config.yaml

@@ -0,0 +1,28 @@
+experiment_name: fewshot_39tasks_5shot_from_baseline26_fullactionhead_seed1
+policy_type: baseline
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-120000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 1
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed1.json
+  save_total_limit: 4
+phases:
+- name: train_5shot_seed1_fullactionhead_12k
+  max_steps: 12000
+  save_steps: 0
+  save_step_list:
+  - 2000
+  - 5000
+  - 8000
+  - 12000
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+resolved_sweep: {}

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/seed1.yaml

@@ -0,0 +1,27 @@
+experiment_name: fewshot_39tasks_5shot_from_baseline26_fullactionhead_seed1
+policy_type: baseline
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-120000
+output_root: ${HOME}/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 1
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed1.json
+  save_total_limit: 4
+phases:
+- name: train_5shot_seed1_fullactionhead_12k
+  max_steps: 12000
+  save_steps: 0
+  save_step_list:
+  - 2000
+  - 5000
+  - 8000
+  - 12000
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-12000/config.json

@@ -0,0 +1,64 @@
+{
+  "action_dim": 32,
+  "action_head_cfg": {
+    "action_dim": 32,
+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "backbone_embedding_dim": 2048,
+    "diffusion_model_cfg": {
+      "attention_head_dim": 48,
+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
+      "num_attention_heads": 32,
+      "num_layers": 16,
+      "output_dim": 1024,
+      "positional_embeddings": null
+    },
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "max_action_dim": 32,
+    "max_state_dim": 64,
+    "model_dtype": "float32",
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
+    "use_vlln": true,
+    "vl_self_attention_cfg": {
+      "attention_head_dim": 64,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "num_attention_heads": 32,
+      "num_layers": 4,
+      "positional_embeddings": null
+    }
+  },
+  "action_horizon": 16,
+  "architectures": [
+    "GR00T_N1_5"
+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
+    "project_to_dim": null,
+    "reproject_vision": false,
+    "select_layer": 12,
+    "tune_llm": false,
+    "tune_visual": true,
+    "use_flash_attention": true
+  },
+  "compute_dtype": "bfloat16",
+  "hidden_size": 2048,
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+  "model_type": "gr00t_n1_5",
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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-12000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-2000/config.json

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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-2000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000/config.json

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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-8000/config.json

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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-8000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/config.json

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+  "action_head_cfg": {
+    "action_dim": 32,
+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "backbone_embedding_dim": 2048,
+    "diffusion_model_cfg": {
+      "attention_head_dim": 48,
+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
+      "num_attention_heads": 32,
+      "num_layers": 16,
+      "output_dim": 1024,
+      "positional_embeddings": null
+    },
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "max_action_dim": 32,
+    "max_state_dim": 64,
+    "model_dtype": "float32",
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
+    "use_vlln": true,
+    "vl_self_attention_cfg": {
+      "attention_head_dim": 64,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "num_attention_heads": 32,
+      "num_layers": 4,
+      "positional_embeddings": null
+    }
+  },
+  "action_horizon": 16,
+  "architectures": [
+    "GR00T_N1_5"
+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
+    "project_to_dim": null,
+    "reproject_vision": false,
+    "select_layer": 12,
+    "tune_llm": false,
+    "tune_visual": true,
+    "use_flash_attention": true
+  },
+  "compute_dtype": "bfloat16",
+  "hidden_size": 2048,
+  "model_dtype": "float32",
+  "model_type": "gr00t_n1_5",
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_no_video/checkpoint-5000/eval.log

@@ -0,0 +1,41 @@
+[Thu Jul  2 10:03:33 KST 2026] START gpu=0 port=18651 ckpt=5000
+model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000
+video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_no_video/checkpoint-5000
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:18651
+dict_keys(['video', 'state', 'action', 'language'])
+Fewshot video recording: off
+Running simulation for CheesyBread...
+Running 50 episodes for robocasa/CheesyBread with 10 environments
+Creating CheesyBread with split=pretrain

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/eval.log

@@ -0,0 +1,374 @@
+[Thu Jul  2 10:04:13 KST 2026] START gpu=0 port=18651 ckpt=5000
+model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000
+video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000
+Tune backbone vision tower: True
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+Model not found or avail in the huggingface hub. Loading from local path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/checkpoint-5000
+Available modality configs:
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+
+/home/seonho/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+Tune backbone llm: False
+Tune backbone visual: True
+Tune action head projector: True
+Tune action head diffusion model: True
+Set action denoising steps to 4
+Server is ready and listening on tcp://0.0.0.0:18651
+dict_keys(['video', 'state', 'action', 'language'])
+Fewshot video recording: on
+Running simulation for CheesyBread...
+Running 50 episodes for robocasa/CheesyBread with 10 environments
+Creating CheesyBread with split=pretrain
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CheesyBread with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CheesyBread with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CheesyBread with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CheesyBread with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CheesyBread with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CheesyBread with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CheesyBread with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CheesyBread with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CheesyBread with split=pretrain
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+Creating CheesyBread with split=pretrain
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+EP 1 success: True; Cumulative success rate: 1.0
+EP 2 success: False; Cumulative success rate: 0.5
+EP 3 success: False; Cumulative success rate: 0.3333333333333333
+EP 4 success: False; Cumulative success rate: 0.25
+EP 5 success: False; Cumulative success rate: 0.2
+EP 6 success: True; Cumulative success rate: 0.3333333333333333
+EP 7 success: False; Cumulative success rate: 0.2857142857142857
+EP 8 success: False; Cumulative success rate: 0.25
+EP 9 success: True; Cumulative success rate: 0.3333333333333333
+EP 10 success: False; Cumulative success rate: 0.3
+EP 11 success: False; Cumulative success rate: 0.2727272727272727
+EP 12 success: False; Cumulative success rate: 0.25
+EP 13 success: True; Cumulative success rate: 0.3076923076923077
+EP 14 success: True; Cumulative success rate: 0.35714285714285715
+EP 15 success: True; Cumulative success rate: 0.4
+EP 16 success: False; Cumulative success rate: 0.375
+EP 17 success: False; Cumulative success rate: 0.35294117647058826
+EP 18 success: False; Cumulative success rate: 0.3333333333333333
+EP 19 success: True; Cumulative success rate: 0.3684210526315789
+EP 20 success: False; Cumulative success rate: 0.35
+EP 21 success: False; Cumulative success rate: 0.3333333333333333
+EP 22 success: False; Cumulative success rate: 0.3181818181818182
+EP 23 success: False; Cumulative success rate: 0.30434782608695654
+EP 24 success: False; Cumulative success rate: 0.2916666666666667
+EP 25 success: False; Cumulative success rate: 0.28
+EP 26 success: True; Cumulative success rate: 0.3076923076923077
+EP 27 success: False; Cumulative success rate: 0.2962962962962963
+EP 28 success: False; Cumulative success rate: 0.2857142857142857
+EP 29 success: False; Cumulative success rate: 0.27586206896551724
+EP 30 success: False; Cumulative success rate: 0.26666666666666666
+EP 31 success: False; Cumulative success rate: 0.25806451612903225
+EP 32 success: False; Cumulative success rate: 0.25
+EP 33 success: True; Cumulative success rate: 0.2727272727272727
+EP 34 success: True; Cumulative success rate: 0.29411764705882354
+EP 35 success: False; Cumulative success rate: 0.2857142857142857
+EP 36 success: False; Cumulative success rate: 0.2777777777777778
+EP 37 success: False; Cumulative success rate: 0.2702702702702703
+EP 38 success: False; Cumulative success rate: 0.2631578947368421
+EP 39 success: False; Cumulative success rate: 0.2564102564102564
+EP 40 success: True; Cumulative success rate: 0.275
+EP 41 success: False; Cumulative success rate: 0.2682926829268293
+EP 42 success: False; Cumulative success rate: 0.2619047619047619
+EP 43 success: False; Cumulative success rate: 0.2558139534883721
+EP 44 success: False; Cumulative success rate: 0.25
+EP 45 success: True; Cumulative success rate: 0.26666666666666666
+EP 46 success: False; Cumulative success rate: 0.2608695652173913
+EP 47 success: False; Cumulative success rate: 0.2553191489361702
+EP 48 success: False; Cumulative success rate: 0.25
+EP 49 success: True; Cumulative success rate: 0.2653061224489796
+EP 50 success: True; Cumulative success rate: 0.28
+Collecting 50 episodes took 2105.47 seconds
+Results for CheesyBread:
+Success rate: 0.28
+saved stats to /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/evals/pretrain/CheesyBread/stats.json
+saved episode results to /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/evals/pretrain/CheesyBread/episode_results.json
+saved episode seed manifest to /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/eval_manifest.json
+
+Running simulation for CloseCabinet...
+Running 50 episodes for robocasa/CloseCabinet with 10 environments
+Creating CloseCabinet with split=pretrain
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] No private macro file found! (macros.py:57)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
+[robosuite WARNING] To setup, run: python /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+[robosuite INFO] Loading controller configuration from: /home/seonho/clvla/benchmarks/robocasa_v2/robosuite/robosuite/controllers/config/robots/default_pandaomron.json (composite_controller_factory.py:121)
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/home/seonho/miniconda3/envs/robocasa/lib/python3.11/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/evals/pretrain/CheesyBread/episode_results.json

@@ -0,0 +1,602 @@
+[
+    {
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+        "seed": 42,
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+    {
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+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
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+    },
+    {
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+        "seed": 44,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
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+        "reward": 0.0,
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+    {
+        "completion_order": 3,
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+        "seed": 45,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+    {
+        "completion_order": 4,
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+        "seed": 46,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
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+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 5,
+        "task_name": "CheesyBread",
+        "episode_idx": 5,
+        "seed": 47,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "video_path": null
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+    {
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+        "seed": 48,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "reward": 0.0,
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+        "video_path": null
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+    {
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+        "seed": 49,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
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+        "reward": 0.0,
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+        "video_path": null
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+    {
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+        "task_name": "CheesyBread",
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+        "seed": 50,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "video_path": null
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+    {
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+        "seed": 51,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "video_path": null
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+    {
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+        "task_name": "CheesyBread",
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+        "seed": 52,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
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+        "reward": 0.0,
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+        "video_path": null
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+    {
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+        "task_name": "CheesyBread",
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+        "seed": 53,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
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+        "episode_idx": 12,
+        "seed": 54,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": true,
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+        "reward": 26.0,
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+        "video_path": null
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+    {
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+        "task_name": "CheesyBread",
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+        "seed": 55,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": true,
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+        "reward": 26.0,
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+        "video_path": null
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+    {
+        "completion_order": 14,
+        "task_name": "CheesyBread",
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+        "seed": 56,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "video_path": null
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+        "task_name": "CheesyBread",
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+        "seed": 57,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "reward": 0.0,
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+        "video_path": null
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+        "task_name": "CheesyBread",
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+        "seed": 58,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "video_path": null
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+        "seed": 59,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "video_path": null
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+        "seed": 60,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "video_path": null
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+        "task_name": "CheesyBread",
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+        "seed": 61,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "reward": 0.0,
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+        "video_path": null
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+        "task_name": "CheesyBread",
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+        "seed": 62,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "seed": 63,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "task_name": "CheesyBread",
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+        "seed": 64,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "reward": 0.0,
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+        "task_name": "CheesyBread",
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+        "seed": 65,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
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+        "reward": 0.0,
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+        "video_path": null
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+        "task_name": "CheesyBread",
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+        "seed": 66,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
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+        "reward": 0.0,
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+        "video_path": null
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+    {
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+        "task_name": "CheesyBread",
+        "episode_idx": 25,
+        "seed": 67,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": true,
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+        "reward": 29.0,
+        "env_idx": 5,
+        "video_path": null
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+    {
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+        "task_name": "CheesyBread",
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+        "seed": 68,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
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+        "reward": 0.0,
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+        "video_path": null
+    },
+    {
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+        "task_name": "CheesyBread",
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+        "seed": 69,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
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+        "reward": 0.0,
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+        "video_path": null
+    },
+    {
+        "completion_order": 28,
+        "task_name": "CheesyBread",
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+        "seed": 70,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
+        "length": 48,
+        "reward": 0.0,
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+        "video_path": null
+    },
+    {
+        "completion_order": 29,
+        "task_name": "CheesyBread",
+        "episode_idx": 29,
+        "seed": 71,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
+        "length": 48,
+        "reward": 0.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 30,
+        "task_name": "CheesyBread",
+        "episode_idx": 30,
+        "seed": 72,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
+        "length": 48,
+        "reward": 0.0,
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+        "video_path": null
+    },
+    {
+        "completion_order": 31,
+        "task_name": "CheesyBread",
+        "episode_idx": 31,
+        "seed": 73,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
+        "length": 48,
+        "reward": 0.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 32,
+        "task_name": "CheesyBread",
+        "episode_idx": 32,
+        "seed": 74,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": true,
+        "length": 48,
+        "reward": 29.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 33,
+        "task_name": "CheesyBread",
+        "episode_idx": 33,
+        "seed": 75,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": true,
+        "length": 48,
+        "reward": 23.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 34,
+        "task_name": "CheesyBread",
+        "episode_idx": 34,
+        "seed": 76,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
+        "length": 48,
+        "reward": 0.0,
+        "env_idx": 4,
+        "video_path": null
+    },
+    {
+        "completion_order": 35,
+        "task_name": "CheesyBread",
+        "episode_idx": 35,
+        "seed": 77,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
+        "length": 48,
+        "reward": 0.0,
+        "env_idx": 5,
+        "video_path": null
+    },
+    {
+        "completion_order": 36,
+        "task_name": "CheesyBread",
+        "episode_idx": 36,
+        "seed": 78,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
+        "length": 48,
+        "reward": 0.0,
+        "env_idx": 6,
+        "video_path": null
+    },
+    {
+        "completion_order": 37,
+        "task_name": "CheesyBread",
+        "episode_idx": 37,
+        "seed": 79,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
+        "length": 48,
+        "reward": 0.0,
+        "env_idx": 7,
+        "video_path": null
+    },
+    {
+        "completion_order": 38,
+        "task_name": "CheesyBread",
+        "episode_idx": 38,
+        "seed": 80,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": false,
+        "length": 48,
+        "reward": 0.0,
+        "env_idx": 8,
+        "video_path": null
+    },
+    {
+        "completion_order": 39,
+        "task_name": "CheesyBread",
+        "episode_idx": 39,
+        "seed": 81,
+        "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
+        "success": true,
+        "length": 48,
+        "reward": 24.0,
+        "env_idx": 9,
+        "video_path": null
+    },
+    {
+        "completion_order": 40,
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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed1/default/train_5shot_seed1_fullactionhead_12k/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_12k/checkpoint-5000/config.json

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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_12k/checkpoint-5000/experiment_cfg/metadata.json

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+}