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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/resolved_config.yaml

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+experiment_name: fewshot_39tasks_5shot_from_baseline26_fullactionhead_seed2
+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/seed2
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 2
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed2.json
+  save_total_limit: 4
+phases:
+- name: train_5shot_seed2_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/seed2/default/seed2.yaml

@@ -0,0 +1,27 @@
+experiment_name: fewshot_39tasks_5shot_from_baseline26_fullactionhead_seed2
+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/seed2
+dataset:
+  dataset_soup: fewshot_heldout_atomic39_human_5shot
+training:
+  num_gpus: 1
+  batch_size: 64
+  seed: 42
+  filter_key_seed: 2
+  manifest_path: ${HOME}/clvla/benchmarks/robocasa_v2/my_scripts/Fewshot/manifests/fewshot_heldout_atomic39/shot5_seed2.json
+  save_total_limit: 4
+phases:
+- name: train_5shot_seed2_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/seed2/default/train_5shot_seed2_fullactionhead_12k/checkpoint-12000/config.json

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+  "model_type": "gr00t_n1_5",
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_12k/checkpoint-12000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_12k/checkpoint-2000/config.json

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+}

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_12k/checkpoint-2000/experiment_cfg/metadata.json

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

@@ -0,0 +1,64 @@
+{
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+    "action_dim": 32,
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+}

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_12k/eval_seed42_atomic39_nenv10_ep50_no_video/checkpoint-5000/eval.log

@@ -0,0 +1,91 @@
+[Thu Jul  2 10:03:33 KST 2026] START gpu=0 port=18652 ckpt=5000
+model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_12k/checkpoint-5000
+video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_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/seed2/default/train_5shot_seed2_fullactionhead_12k/checkpoint-5000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_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/seed2/default/train_5shot_seed2_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://0.0.0.0:18652
+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)

FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_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=18652 ckpt=5000
+model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_fullactionhead_12k/checkpoint-5000
+video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_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/seed2/default/train_5shot_seed2_fullactionhead_12k/checkpoint-5000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_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/seed2/default/train_5shot_seed2_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://0.0.0.0:18652
+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] 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.
+`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.
+[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)
+`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: False; Cumulative success rate: 0.0
+EP 2 success: True; Cumulative success rate: 0.5
+EP 3 success: True; Cumulative success rate: 0.6666666666666666
+EP 4 success: True; Cumulative success rate: 0.75
+EP 5 success: False; Cumulative success rate: 0.6
+EP 6 success: True; Cumulative success rate: 0.6666666666666666
+EP 7 success: True; Cumulative success rate: 0.7142857142857143
+EP 8 success: False; Cumulative success rate: 0.625
+EP 9 success: True; Cumulative success rate: 0.6666666666666666
+EP 10 success: True; Cumulative success rate: 0.7
+EP 11 success: False; Cumulative success rate: 0.6363636363636364
+EP 12 success: True; Cumulative success rate: 0.6666666666666666
+EP 13 success: False; Cumulative success rate: 0.6153846153846154
+EP 14 success: False; Cumulative success rate: 0.5714285714285714
+EP 15 success: False; Cumulative success rate: 0.5333333333333333
+EP 16 success: True; Cumulative success rate: 0.5625
+EP 17 success: False; Cumulative success rate: 0.5294117647058824
+EP 18 success: True; Cumulative success rate: 0.5555555555555556
+EP 19 success: False; Cumulative success rate: 0.5263157894736842
+EP 20 success: False; Cumulative success rate: 0.5
+EP 21 success: False; Cumulative success rate: 0.47619047619047616
+EP 22 success: True; Cumulative success rate: 0.5
+EP 23 success: False; Cumulative success rate: 0.4782608695652174
+EP 24 success: False; Cumulative success rate: 0.4583333333333333
+EP 25 success: True; Cumulative success rate: 0.48
+EP 26 success: True; Cumulative success rate: 0.5
+EP 27 success: False; Cumulative success rate: 0.48148148148148145
+EP 28 success: False; Cumulative success rate: 0.4642857142857143
+EP 29 success: False; Cumulative success rate: 0.4482758620689655
+EP 30 success: False; Cumulative success rate: 0.43333333333333335
+EP 31 success: False; Cumulative success rate: 0.41935483870967744
+EP 32 success: False; Cumulative success rate: 0.40625
+EP 33 success: False; Cumulative success rate: 0.3939393939393939
+EP 34 success: True; Cumulative success rate: 0.4117647058823529
+EP 35 success: True; Cumulative success rate: 0.42857142857142855
+EP 36 success: False; Cumulative success rate: 0.4166666666666667
+EP 37 success: False; Cumulative success rate: 0.40540540540540543
+EP 38 success: False; Cumulative success rate: 0.39473684210526316
+EP 39 success: True; Cumulative success rate: 0.41025641025641024
+EP 40 success: True; Cumulative success rate: 0.425
+EP 41 success: True; Cumulative success rate: 0.43902439024390244
+EP 42 success: False; Cumulative success rate: 0.42857142857142855
+EP 43 success: True; Cumulative success rate: 0.4418604651162791
+EP 44 success: True; Cumulative success rate: 0.45454545454545453
+EP 45 success: True; Cumulative success rate: 0.4666666666666667
+EP 46 success: False; Cumulative success rate: 0.45652173913043476
+EP 47 success: True; Cumulative success rate: 0.46808510638297873
+EP 48 success: False; Cumulative success rate: 0.4583333333333333
+EP 49 success: True; Cumulative success rate: 0.46938775510204084
+EP 50 success: False; Cumulative success rate: 0.46
+Collecting 50 episodes took 2085.43 seconds
+Results for CheesyBread:
+Success rate: 0.46
+saved stats to /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_FullactionHead/seed2/default/train_5shot_seed2_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/seed2/default/train_5shot_seed2_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/seed2/default/train_5shot_seed2_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] 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.
+[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.
+`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/seed2/default/train_5shot_seed2_fullactionhead_12k/experiment_cfg/metadata.json

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+}

FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/seed0.yaml

@@ -0,0 +1,28 @@
+experiment_name: fewshot_39tasks_5shot_from_baseline26_processingline_seed0
+policy_type: baseline
+base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-120000
+output_root: ${HOME}/groot_robocasa/Experiments_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/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_processingline_12k
+  max_steps: 12000
+  save_steps: 0
+  save_step_list:
+  - 2000
+  - 5000
+  - 8000
+  - 12000
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false

FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-12000/config.json

@@ -0,0 +1,64 @@
+{
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+  "attn_implementation": null,
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+    "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_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-12000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-2000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-5000/config.json

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FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-5000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-8000/config.json

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+  "model_dtype": "float32",
+  "model_type": "gr00t_n1_5",
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-8000/experiment_cfg/metadata.json

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+    }
+}

FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_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=2 port=18750 ckpt=5000
+model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-5000
+video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_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_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-5000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_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_Processingline/seed0/default/train_5shot_seed0_processingline_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://0.0.0.0:18750
+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 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 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 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 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)
+`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)
+[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=2 port=18750 ckpt=5000
+model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-5000
+video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_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_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-5000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_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_Processingline/seed0/default/train_5shot_seed0_processingline_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://0.0.0.0:18750
+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_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/evals/pretrain/CheesyBread/episode_results.json

@@ -0,0 +1,602 @@
+[
+    {
+        "completion_order": 0,
+        "task_name": "CheesyBread",
+        "episode_idx": 0,
+        "seed": 42,
+        "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": 47,
+        "reward": 0.0,
+        "env_idx": 0,
+        "video_path": null
+    },
+    {
+        "completion_order": 1,
+        "task_name": "CheesyBread",
+        "episode_idx": 1,
+        "seed": 43,
+        "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": 47,
+        "reward": 0.0,
+        "env_idx": 1,
+        "video_path": null
+    },
+    {
+        "completion_order": 2,
+        "task_name": "CheesyBread",
+        "episode_idx": 2,
+        "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": true,
+        "length": 47,
+        "reward": 25.0,
+        "env_idx": 2,
+        "video_path": null
+    },
+    {
+        "completion_order": 3,
+        "task_name": "CheesyBread",
+        "episode_idx": 3,
+        "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.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0,
+        "env_idx": 3,
+        "video_path": null
+    },
+    {
+        "completion_order": 4,
+        "task_name": "CheesyBread",
+        "episode_idx": 4,
+        "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,
+        "length": 47,
+        "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.",
+        "success": true,
+        "length": 47,
+        "reward": 28.0,
+        "env_idx": 5,
+        "video_path": null
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+        },
+        {
+            "completion_order": 14,
+            "task_name": "CheesyBread",
+            "episode_idx": 14,
+            "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.",
+            "success": true,
+            "length": 48,
+            "reward": 29.0,
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+            "video_path": null
+        },
+        {
+            "completion_order": 15,
+            "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.",
+            "success": true,
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+            "reward": 29.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 16,
+            "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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+        {
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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": true,
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+            "video_path": null
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+        {
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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.",
+            "success": false,
+            "length": 48,
+            "reward": 0.0,
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+            "video_path": null
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+        {
+            "completion_order": 19,
+            "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.",
+            "success": false,
+            "length": 48,
+            "reward": 0.0,
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+            "video_path": null
+        },
+        {
+            "completion_order": 20,
+            "task_name": "CheesyBread",
+            "episode_idx": 20,
+            "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.",
+            "success": true,
+            "length": 48,
+            "reward": 25.0,
+            "env_idx": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 21,
+            "task_name": "CheesyBread",
+            "episode_idx": 21,
+            "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.",
+            "success": false,
+            "length": 48,
+            "reward": 0.0,
+            "env_idx": 1,
+            "video_path": null
+        },
+        {
+            "completion_order": 22,
+            "task_name": "CheesyBread",
+            "episode_idx": 22,
+            "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.",
+            "success": true,
+            "length": 48,
+            "reward": 32.0,
+            "env_idx": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 23,
+            "task_name": "CheesyBread",
+            "episode_idx": 23,
+            "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.",
+            "success": true,
+            "length": 48,
+            "reward": 16.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 24,
+            "task_name": "CheesyBread",
+            "episode_idx": 24,
+            "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,
+            "length": 48,
+            "reward": 0.0,
+            "env_idx": 4,
+            "video_path": null
+        },
+        {
+            "completion_order": 25,
+            "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": false,
+            "length": 48,
+            "reward": 0.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 26,
+            "task_name": "CheesyBread",
+            "episode_idx": 26,
+            "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,
+            "length": 48,
+            "reward": 0.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 27,
+            "task_name": "CheesyBread",
+            "episode_idx": 27,
+            "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,
+            "length": 48,
+            "reward": 0.0,
+            "env_idx": 7,
+            "video_path": null
+        },
+        {
+            "completion_order": 28,
+            "task_name": "CheesyBread",
+            "episode_idx": 28,
+            "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": true,
+            "length": 48,
+            "reward": 1.0,
+            "env_idx": 8,
+            "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,
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+            "reward": 0.0,
+            "env_idx": 0,
+            "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": 27.0,
+            "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": false,
+            "length": 48,
+            "reward": 0.0,
+            "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,
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+            "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": true,
+            "length": 48,
+            "reward": 25.0,
+            "env_idx": 5,
+            "video_path": null
+        },
+        {
+            "completion_order": 36,
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+            "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": true,
+            "length": 48,
+            "reward": 25.0,
+            "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": true,
+            "length": 48,
+            "reward": 30.0,
+            "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": 26.0,
+            "env_idx": 9,
+            "video_path": null
+        },
+        {
+            "completion_order": 40,
+            "task_name": "CheesyBread",
+            "episode_idx": 40,
+            "seed": 82,
+            "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": 0,
+            "video_path": null
+        },
+        {
+            "completion_order": 41,
+            "task_name": "CheesyBread",
+            "episode_idx": 41,
+            "seed": 83,
+            "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": 42,
+            "task_name": "CheesyBread",
+            "episode_idx": 42,
+            "seed": 84,
+            "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": 2,
+            "video_path": null
+        },
+        {
+            "completion_order": 43,
+            "task_name": "CheesyBread",
+            "episode_idx": 43,
+            "seed": 85,
+            "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": 26.0,
+            "env_idx": 3,
+            "video_path": null
+        },
+        {
+            "completion_order": 44,
+            "task_name": "CheesyBread",
+            "episode_idx": 44,
+            "seed": 86,
+            "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": 45,
+            "task_name": "CheesyBread",
+            "episode_idx": 45,
+            "seed": 87,
+            "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": 46,
+            "task_name": "CheesyBread",
+            "episode_idx": 46,
+            "seed": 88,
+            "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": 26.0,
+            "env_idx": 6,
+            "video_path": null
+        },
+        {
+            "completion_order": 47,
+            "task_name": "CheesyBread",
+            "episode_idx": 47,
+            "seed": 89,
+            "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": 48,
+            "task_name": "CheesyBread",
+            "episode_idx": 48,
+            "seed": 90,
+            "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": 49,
+            "task_name": "CheesyBread",
+            "episode_idx": 49,
+            "seed": 91,
+            "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
+        }
+    ]
+}

FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/summary.txt

@@ -0,0 +1,111 @@
+Eval metadata
+- total_eval_time: 43m 16s (2596.22s)
+- model_path: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-5000
+- checkpoint_name: checkpoint-5000
+- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k
+- video_dir: /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000
+- task_set: fewshot_heldout_atomic39
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- save_video: True
+- video_steps_per_render: 2
+- seed: 42
+- episode_seed_start: 42
+- episode_seed_manifest: None
+- episode_manifest_output: None
+- command: my_scripts/Fewshot/fewshot_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-5000 --task_set fewshot_heldout_atomic39 --split pretrain --video_dir /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000 --n_episodes 50 --n_envs 10 --seed 42 --port 18750 --save_video --stats_output /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-5000/summary.txt
+- config_yaml_candidates: none found in /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k
+- selected_config_yaml: none
+
+Stats for task group: FEWSHOT_HELDOUT_ATOMIC39
+CheesyBread: 42 | None
+AVG: 42.0 | nan
+
+Fewshot task success rates
+- CheesyBread: 42.0% (21/50)
+- CloseCabinet: missing
+- CloseDishwasher: missing
+- CloseDrawer: missing
+- CloseElectricKettleLid: missing
+- CloseFridgeDrawer: missing
+- CloseMicrowave: missing
+- CloseOven: missing
+- CloseStandMixerHead: missing
+- CoffeeServeMug: missing
+- LowerHeat: missing
+- MakeIcedCoffee: missing
+- OpenBlenderLid: missing
+- OpenDishwasher: missing
+- OpenFridge: missing
+- OpenFridgeDrawer: missing
+- OpenMicrowave: missing
+- OpenOven: missing
+- OpenToasterOvenDoor: missing
+- PackDessert: missing
+- PickPlaceCounterToBlender: missing
+- PickPlaceCounterToDrawer: missing
+- PickPlaceCounterToMicrowave: missing
+- PickPlaceCounterToOven: missing
+- PickPlaceCounterToSink: missing
+- PickPlaceCounterToStandMixer: missing
+- PickPlaceCounterToToasterOven: missing
+- PickPlaceFridgeDrawerToShelf: missing
+- PickPlaceFridgeShelfToDrawer: missing
+- PickPlaceMicrowaveToCounter: missing
+- PickPlaceStoveToCounter: missing
+- PickPlaceToasterOvenToCounter: missing
+- PreheatOven: missing
+- SlideOvenRack: missing
+- SlideToasterOvenRack: missing
+- StartCoffeeMachine: missing
+- TurnOnBlender: missing
+- TurnOnToaster: missing
+- TurnOnToasterOven: missing
+- AVG: 42.0%
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 39
+- completed tasks: 1/39
+- expected episodes per task: 50
+- missing tasks:
+  - CloseCabinet
+  - CloseDishwasher
+  - CloseDrawer
+  - CloseElectricKettleLid
+  - CloseFridgeDrawer
+  - CloseMicrowave
+  - CloseOven
+  - CloseStandMixerHead
+  - CoffeeServeMug
+  - LowerHeat
+  - MakeIcedCoffee
+  - OpenBlenderLid
+  - OpenDishwasher
+  - OpenFridge
+  - OpenFridgeDrawer
+  - OpenMicrowave
+  - OpenOven
+  - OpenToasterOvenDoor
+  - PackDessert
+  - PickPlaceCounterToBlender
+  - PickPlaceCounterToDrawer
+  - PickPlaceCounterToMicrowave
+  - PickPlaceCounterToOven
+  - PickPlaceCounterToSink
+  - PickPlaceCounterToStandMixer
+  - PickPlaceCounterToToasterOven
+  - PickPlaceFridgeDrawerToShelf
+  - PickPlaceFridgeShelfToDrawer
+  - PickPlaceMicrowaveToCounter
+  - PickPlaceStoveToCounter
+  - PickPlaceToasterOvenToCounter
+  - PreheatOven
+  - SlideOvenRack
+  - SlideToasterOvenRack
+  - StartCoffeeMachine
+  - TurnOnBlender
+  - TurnOnToaster
+  - TurnOnToasterOven
+CHECK FAILED

FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-8000/eval.log

@@ -0,0 +1,171 @@
+[Thu Jul  2 10:47:44 KST 2026] START gpu=2 port=18750 ckpt=8000
+model_path=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-8000
+video_dir=/home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/eval_seed42_atomic39_nenv10_ep50_video/checkpoint-8000
+[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_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-8000
+Loading pretrained dual brain from /home/seonho/groot_robocasa/robocasa_v2/FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-8000
+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_Processingline/seed0/default/train_5shot_seed0_processingline_12k/checkpoint-8000
+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://0.0.0.0:18750
+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()
+/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.
+`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)
+[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.")

FewShot/39tasks/5shot/FromBaseline26_Processingline/seed0/default/train_5shot_seed0_processingline_12k/experiment_cfg/metadata.json

@@ -0,0 +1,431 @@
+{
+    "new_embodiment": {
+        "statistics": {
+            "state": {
+                "base_position": {
+                    "max": [
+                        7.778976917266846,
+                        0.33403685688972473,
+                        0.7223060727119446
+                    ],
+                    "min": [
+                        -4.821934223175049,
+                        -6.785110950469971,
+                        0.6994727253913879
+                    ],
+                    "mean": [
+                        2.5886094736594543,
+                        -2.1559664577316586,
+                        0.7003580854548973
+                    ],
+                    "std": [
+                        1.6717149343420803,
+                        1.3743695399555862,
+                        0.000940069542359506
+                    ],
+                    "q01": [
+                        -0.7517815060249613,
+                        -5.497849509089705,
+                        0.6999776914424374
+                    ],
+                    "q99": [
+                        6.060945690807028,
+                        -0.5331499932493624,
+                        0.7028864260472257
+                    ]
+                },
+                "base_rotation": {
+                    "max": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0,
+                        0.0,
+                        0.24488939171811902,
+                        0.5968549204077488
+                    ],
+                    "std": [
+                        0.0,
+                        0.0,
+                        0.6659970734507764,
+                        0.37443298392262264
+                    ],
+                    "q01": [
+                        0.0,
+                        0.0,
+                        -0.9999999999999999,
+                        4.149924358336069e-06
+                    ],
+                    "q99": [
+                        0.0,
+                        0.0,
+                        0.9999999999999999,
+                        0.9999999999999999
+                    ]
+                },
+                "end_effector_position_relative": {
+                    "max": [
+                        0.8848381638526917,
+                        0.8569459915161133,
+                        1.053884744644165
+                    ],
+                    "min": [
+                        -0.5828549861907959,
+                        -0.8486236333847046,
+                        -0.3446122705936432
+                    ],
+                    "mean": [
+                        0.25087486209693133,
+                        -0.005738920462036393,
+                        0.43643948866361787
+                    ],
+                    "std": [
+                        0.15741544532518012,
+                        0.2547603106793105,
+                        0.2050434492495558
+                    ],
+                    "q01": [
+                        -0.013990057288082561,
+                        -0.4824599092623036,
+                        0.18825220353500022
+                    ],
+                    "q99": [
+                        0.5411989642841469,
+                        0.4754923657245658,
+                        0.6912323747882034
+                    ]
+                },
+                "end_effector_rotation_relative": {
+                    "max": [
+                        0.9999949932098389,
+                        0.9997354745864868,
+                        0.9900747537612915,
+                        0.9735639095306396
+                    ],
+                    "min": [
+                        -0.9999914169311523,
+                        -0.9999884366989136,
+                        -0.9975369572639465,
+                        6.754255821306288e-08
+                    ],
+                    "mean": [
+                        -0.22290331318740714,
+                        0.04579037037503981,
+                        -0.05804094906527823,
+                        0.12347219024917105
+                    ],
+                    "std": [
+                        0.8519267931761344,
+                        0.2949394732270141,
+                        0.30026078832556913,
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FewShot/39tasks/5shot/FromBaseline26_Processingline/seed1/default/train_5shot_seed1_processingline_12k/checkpoint-5000/experiment_cfg/metadata.json

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FewShot/39tasks/5shot/FromBaseline26_Processingline/seed1/default/train_5shot_seed1_processingline_12k/checkpoint-8000/experiment_cfg/metadata.json

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