diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_3.out b/workspace/outputs/hpc/logs/eval_h16_field_14837136_3.out new file mode 100644 index 0000000000000000000000000000000000000000..101cbd6fba3fb589b0f408269b4892e7f10d5313 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_3.out @@ -0,0 +1,98 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 3 +Seed: 0 +Candidates: 32 +Candidate sigma: 0.20 +Selection seed: 92000 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.20/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.2, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.30782608695652175, + "policy_rollout_progress": 0.5236520005676198, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.9457711988190804, + "policy_expert_regret": 0.857266920862206, + "action_mse_to_best": 0.3907121669816906, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5632042542253572, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.12331739544254, + "policy_expert_regret": 1.096901917734097, + "action_mse_to_best": 0.32411609940979746, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.3173076923076923, + "policy_rollout_progress": 0.594855451822066, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.0131241088786807, + "policy_expert_regret": 0.9997012414521753, + "action_mse_to_best": 0.3089638287559725, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.09090909090909091, + "policy_rollout_progress": 0.21818976864638404, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.6057183034637363, + "policy_expert_regret": 0.34222419101954143, + "action_mse_to_best": 0.620038845709392, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.648936170212766, + "policy_rollout_progress": 0.6828119799177698, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6486242381816215, + "policy_expert_regret": 0.5517117910562678, + "action_mse_to_best": 0.3883775261012798, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.4217597514089912, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1769277733383756, + "policy_expert_regret": 1.0139289311688355, + "action_mse_to_best": 0.4515684789629898, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.20/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_4.err b/workspace/outputs/hpc/logs/eval_h16_field_14837136_4.err new file mode 100644 index 0000000000000000000000000000000000000000..974d47fd42d13c14faa5a79f2d59e65168012dd8 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_4.err @@ -0,0 +1,5 @@ +2026-06-27 11:15:25,234 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:15:27,315 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:15:29,470 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:15:31,711 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:15:33,846 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_4.out b/workspace/outputs/hpc/logs/eval_h16_field_14837136_4.out new file mode 100644 index 0000000000000000000000000000000000000000..75e5995eea25367f84a926ed9a0f8d7996228c77 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_4.out @@ -0,0 +1,98 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 4 +Seed: 1 +Candidates: 32 +Candidate sigma: 0.20 +Selection seed: 92001 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.20/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.2, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.3130434782608696, + "policy_rollout_progress": 0.5412584817804316, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9514653457889495, + "policy_expert_regret": 0.8612220794280343, + "action_mse_to_best": 0.4014194884442765, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.21238938053097345, + "policy_rollout_progress": 0.6147400798787058, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.105070760951633, + "policy_expert_regret": 1.025868605855292, + "action_mse_to_best": 0.3384467677122592, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.2608695652173913, + "policy_rollout_progress": 0.552188413313833, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.1103883728881, + "policy_expert_regret": 1.11036436841317, + "action_mse_to_best": 0.32736685282915184, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.28396381365937967, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5478567443129386, + "policy_expert_regret": 0.29840909580142533, + "action_mse_to_best": 0.593048064920463, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.7477477477477478, + "policy_rollout_progress": 0.7650952924479235, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.4871569598043287, + "policy_expert_regret": 0.4019931071513408, + "action_mse_to_best": 0.3798570418814281, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.13186813186813187, + "policy_rollout_progress": 0.36976376536128286, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.342819583776233, + "policy_expert_regret": 1.183210695019135, + "action_mse_to_best": 0.4956091824243521, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.20/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_5.err b/workspace/outputs/hpc/logs/eval_h16_field_14837136_5.err new file mode 100644 index 0000000000000000000000000000000000000000..6059a06a17da488bc655f6bd55f50c7a6d62f71f --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_5.err @@ -0,0 +1,6 @@ +2026-06-27 11:15:28,282 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:15:30,406 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:15:32,592 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:15:34,753 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:15:36,917 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:15:39,029 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_5.out b/workspace/outputs/hpc/logs/eval_h16_field_14837136_5.out new file mode 100644 index 0000000000000000000000000000000000000000..fc7ec3bd4278b9a2ba4a7b129e48d7a5a80f9557 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_5.out @@ -0,0 +1,98 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 5 +Seed: 2 +Candidates: 32 +Candidate sigma: 0.20 +Selection seed: 92002 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.20/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.2, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5594067458427795, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9073859131392902, + "policy_expert_regret": 0.8138708822518264, + "action_mse_to_best": 0.425915271744294, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6394894334177176, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9607857565085093, + "policy_expert_regret": 0.8545110411942005, + "action_mse_to_best": 0.35779982555444195, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.32323232323232326, + "policy_rollout_progress": 0.6229378928082309, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0157857866054683, + "policy_expert_regret": 1.00870233607676, + "action_mse_to_best": 0.3381687065755779, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.18888888888888888, + "policy_rollout_progress": 0.3017854992972894, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5860447995105965, + "policy_expert_regret": 0.3404962347147779, + "action_mse_to_best": 0.6543993772731886, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7227722772277227, + "policy_rollout_progress": 0.7472358027307113, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.5299919200415658, + "policy_expert_regret": 0.47577363680494894, + "action_mse_to_best": 0.4016442125534067, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.14444444444444443, + "policy_rollout_progress": 0.38105199403233, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.356807397802671, + "policy_expert_regret": 1.1946870706147619, + "action_mse_to_best": 0.49036760750330155, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.20/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_6.err b/workspace/outputs/hpc/logs/eval_h16_field_14837136_6.err new file mode 100644 index 0000000000000000000000000000000000000000..1b25ba031d6b53bae9c37ff502baa925b04f6aff --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_6.err @@ -0,0 +1,5 @@ +2026-06-27 11:18:34,822 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:37,013 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:39,207 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:41,380 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:43,551 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_6.out b/workspace/outputs/hpc/logs/eval_h16_field_14837136_6.out new file mode 100644 index 0000000000000000000000000000000000000000..eddf73fd829f3e4b8592d07156da99889af61ab4 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_6.out @@ -0,0 +1,98 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 6 +Seed: 0 +Candidates: 32 +Candidate sigma: 0.35 +Selection seed: 93000 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.35/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.35, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.3234782608695652, + "policy_rollout_progress": 0.5365680560134893, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.9265719165048303, + "policy_expert_regret": 0.8395657396003385, + "action_mse_to_best": 0.39553123654797673, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5676478307271741, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.118873818940723, + "policy_expert_regret": 1.0924583412322801, + "action_mse_to_best": 0.3222495113672285, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.3269230769230769, + "policy_rollout_progress": 0.5977829167028316, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.007329671473529, + "policy_expert_regret": 0.9939068040470235, + "action_mse_to_best": 0.31544953831829703, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.16883116883116883, + "policy_rollout_progress": 0.29021572308752125, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4835427300238486, + "policy_expert_regret": 0.2455574702068305, + "action_mse_to_best": 0.6550499460139831, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.648936170212766, + "policy_rollout_progress": 0.6824948434182938, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6685689863689402, + "policy_expert_regret": 0.5716793151929024, + "action_mse_to_best": 0.3813233734603892, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.23232323232323232, + "policy_rollout_progress": 0.43055373731285634, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1580327773335004, + "policy_expert_regret": 0.9838731827759983, + "action_mse_to_best": 0.44722738882733715, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.35/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_7.err b/workspace/outputs/hpc/logs/eval_h16_field_14837136_7.err new file mode 100644 index 0000000000000000000000000000000000000000..36b0e2164e6123cdece61621e54168ae85420046 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_7.err @@ -0,0 +1,5 @@ +2026-06-27 11:18:29,949 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:31,996 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:34,139 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:36,343 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:38,463 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_7.out b/workspace/outputs/hpc/logs/eval_h16_field_14837136_7.out new file mode 100644 index 0000000000000000000000000000000000000000..803f854c3427f5a5179d9d6c0c75c38f9cfa5f5f --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_7.out @@ -0,0 +1,98 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 7 +Seed: 1 +Candidates: 32 +Candidate sigma: 0.35 +Selection seed: 93001 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.35/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.35, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.31478260869565217, + "policy_rollout_progress": 0.5412338370824422, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.951460732821429, + "policy_expert_regret": 0.8656454662757291, + "action_mse_to_best": 0.4067689944188232, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.22123893805309736, + "policy_rollout_progress": 0.6276694327856587, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0832918505225562, + "policy_expert_regret": 1.004089695426215, + "action_mse_to_best": 0.33181332383898243, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.266304347826087, + "policy_rollout_progress": 0.5523134896521578, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.112533414923667, + "policy_expert_regret": 1.1125094104487367, + "action_mse_to_best": 0.33753558987265697, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.14473684210526316, + "policy_rollout_progress": 0.25026103445704573, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6021578795881124, + "policy_expert_regret": 0.3739064343829165, + "action_mse_to_best": 0.6109341694728324, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.7387387387387387, + "policy_rollout_progress": 0.7612996167159295, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.4999616445453317, + "policy_expert_regret": 0.4335025233459902, + "action_mse_to_best": 0.3871889783254078, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.38607727744422116, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3045280497152727, + "policy_expert_regret": 1.1323802955858, + "action_mse_to_best": 0.49320598007026284, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.35/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_8.err b/workspace/outputs/hpc/logs/eval_h16_field_14837136_8.err new file mode 100644 index 0000000000000000000000000000000000000000..84bc4f91cc63fb923ff6316e635f648824d9127c --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_8.err @@ -0,0 +1,6 @@ +2026-06-27 11:18:33,517 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:35,633 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:37,828 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:40,022 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:42,226 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:44,379 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_8.out b/workspace/outputs/hpc/logs/eval_h16_field_14837136_8.out new file mode 100644 index 0000000000000000000000000000000000000000..f4dff2ac7e2c0e4bffa0f812c010691798c154e3 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_8.out @@ -0,0 +1,98 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 8 +Seed: 2 +Candidates: 32 +Candidate sigma: 0.35 +Selection seed: 93002 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.35/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.35, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5607519139111908, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9053549101214475, + "policy_expert_regret": 0.8040702116143874, + "action_mse_to_best": 0.4337610558687669, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3229166666666667, + "policy_rollout_progress": 0.644037484501799, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9666543720910946, + "policy_expert_regret": 0.8603796567767859, + "action_mse_to_best": 0.3546609722592014, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.32323232323232326, + "policy_rollout_progress": 0.6198147095250662, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0189089698886329, + "policy_expert_regret": 1.0118255193599246, + "action_mse_to_best": 0.34091578990296284, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.26429835981517097, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.6527724535790842, + "policy_expert_regret": 0.3871518444545826, + "action_mse_to_best": 0.7086632399095429, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7425742574257426, + "policy_rollout_progress": 0.7639956024318638, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.49343014014239356, + "policy_expert_regret": 0.40123750564485494, + "action_mse_to_best": 0.39258715377585723, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.16666666666666666, + "policy_rollout_progress": 0.41034479190905887, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.305003473162651, + "policy_expert_regret": 1.155931308037705, + "action_mse_to_best": 0.49369814737389484, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k32_sigma0.35/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_9.err b/workspace/outputs/hpc/logs/eval_h16_field_14837136_9.err new file mode 100644 index 0000000000000000000000000000000000000000..2b1cc325d78a5e1a53db847c9d2c32d14cf62dc3 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_9.err @@ -0,0 +1,5 @@ +2026-06-27 11:18:34,974 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:37,106 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:39,282 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:41,467 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 11:18:43,622 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14837136_9.out b/workspace/outputs/hpc/logs/eval_h16_field_14837136_9.out new file mode 100644 index 0000000000000000000000000000000000000000..044a8a2ede70fd816947c84d882d4b8dd8181af0 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14837136_9.out @@ -0,0 +1,98 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 9 +Seed: 0 +Candidates: 64 +Candidate sigma: 0.35 +Selection seed: 94000 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k64_sigma0.35/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 64, + "candidate_sigma": 0.35, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.3234782608695652, + "policy_rollout_progress": 0.5343159465103726, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.9281872159047587, + "policy_expert_regret": 0.8440238188951528, + "action_mse_to_best": 0.39918596936227835, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5676527385859146, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1188689110819827, + "policy_expert_regret": 1.0924534333735396, + "action_mse_to_best": 0.32200342137846594, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.3269230769230769, + "policy_rollout_progress": 0.5913155791260158, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.0137970090503445, + "policy_expert_regret": 1.0003741416238392, + "action_mse_to_best": 0.32040938953510845, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.18181818181818182, + "policy_rollout_progress": 0.29306630275033213, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4629497372528128, + "policy_expert_regret": 0.2460009390846041, + "action_mse_to_best": 0.6566622284325686, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6382978723404256, + "policy_rollout_progress": 0.6713400153403587, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6903621123192158, + "policy_expert_regret": 0.5936297910644653, + "action_mse_to_best": 0.39111159397091005, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.23232323232323232, + "policy_rollout_progress": 0.43943077160252464, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1491557430438322, + "policy_expert_regret": 0.9749961484863301, + "action_mse_to_best": 0.44772692993659563, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_sweep/near_miss_policy_bc5_bestpt/k64_sigma0.35/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_0.err b/workspace/outputs/hpc/logs/eval_h16_field_14842528_0.err new file mode 100644 index 0000000000000000000000000000000000000000..d67531ebfea4002a3ce10eb1736707a47ca953f4 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_0.err @@ -0,0 +1,5 @@ +2026-06-27 18:20:20,464 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:20:22,483 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:20:24,564 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:20:26,627 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:20:28,693 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_0.out b/workspace/outputs/hpc/logs/eval_h16_field_14842528_0.out new file mode 100644 index 0000000000000000000000000000000000000000..80aa6f45e31b39a45de5e7132d94096a97d89ef0 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_0.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 0 +Seed: 0 +Candidates: 1 +Candidate sigma: 0.00 +Selection seed: 91000 +Selection mode: field_optim +Field optim steps: 4 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.02 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k1_sigma0.00/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field_optim", + "num_candidates": 1, + "candidate_sigma": 0.0, + "field_optim_steps": 4, + "field_optim_step_size": 0.05, + "field_optim_trust_radius": 0.5, + "field_optim_l2_penalty": 0.02, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.25043478260869567, + "policy_rollout_progress": 0.5385008239519337, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0076285014171964, + "policy_expert_regret": 0.9320058296588452, + "action_mse_to_best": 0.38061382845044134, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.28865979381443296, + "policy_rollout_progress": 0.6600650664150101, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 0.9936873315228629, + "policy_expert_regret": 0.9673091362124866, + "action_mse_to_best": 0.31332231308189556, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.04807692307692308, + "policy_rollout_progress": 0.4716863351462122, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.4055239947853038, + "policy_expert_regret": 1.3921011273587982, + "action_mse_to_best": 0.3059184052981436, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.23376623376623376, + "policy_rollout_progress": 0.3639409321469146, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.38729304597749337, + "policy_expert_regret": 0.2339665520597588, + "action_mse_to_best": 0.6041168522138101, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.7978723404255319, + "policy_rollout_progress": 0.8184041946809343, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.3837234648935338, + "policy_expert_regret": 0.3255824437166782, + "action_mse_to_best": 0.36802108233120845, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.13131313131313133, + "policy_rollout_progress": 0.42977230852902537, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.2601833939552307, + "policy_expert_regret": 1.0494662336628846, + "action_mse_to_best": 0.44160282149948554, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_optim_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k1_sigma0.00/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_1.err b/workspace/outputs/hpc/logs/eval_h16_field_14842528_1.err new file mode 100644 index 0000000000000000000000000000000000000000..07cbb59f58177f84f7fc618471473c2f6a05cef0 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_1.err @@ -0,0 +1,42 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 142, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 116, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 139, in evaluate_maniskill_policy_rollout + checkpoint = torch.load( + ^^^^^^^^^^^ + File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 1525, in load + return _load( + ^^^^^^ + File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 2114, in _load + result = unpickler.load() + ^^^^^^^^^^^^^^^^ + File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 2078, in persistent_load + typed_storage = load_tensor( + ^^^^^^^^^^^^ + File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 2044, in load_tensor + wrap_storage = restore_location(storage, location) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 1854, in restore_location + return default_restore_location(storage, map_location) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 698, in default_restore_location + result = fn(storage, location) + ^^^^^^^^^^^^^^^^^^^^^ + File "/opt/conda/lib/python3.11/site-packages/torch/serialization.py", line 637, in _deserialize + return obj.to(device=device) + ^^^^^^^^^^^^^^^^^^^^^ + File "/opt/conda/lib/python3.11/site-packages/torch/storage.py", line 287, in to + return _to(self, device, non_blocking) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/opt/conda/lib/python3.11/site-packages/torch/_utils.py", line 101, in _to + untyped_storage = torch.UntypedStorage(self.size(), device=device) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +RuntimeError: CUDA error: CUDA-capable device(s) is/are busy or unavailable +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1 +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_1.out b/workspace/outputs/hpc/logs/eval_h16_field_14842528_1.out new file mode 100644 index 0000000000000000000000000000000000000000..8d8199e1339a61dd66fa33babc83648c03e5d5a3 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_1.out @@ -0,0 +1,16 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 1 +Seed: 1 +Candidates: 1 +Candidate sigma: 0.00 +Selection seed: 91001 +Selection mode: field_optim +Field optim steps: 4 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.02 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k1_sigma0.00/seed_1/online_rollout.json +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_10.err b/workspace/outputs/hpc/logs/eval_h16_field_14842528_10.err new file mode 100644 index 0000000000000000000000000000000000000000..dc9b6c2eac066e69893153bb520cd3754a74ac92 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_10.err @@ -0,0 +1 @@ +FATAL: container creation failed: mount hook function failure: mount /proc/self/fd/8->/cvmfs/soft.computecanada.ca/easybuild/software/2023/x86-64-v3/Core/apptainer/1.4.5/var/apptainer/mnt/session/rootfs error: while mounting image /proc/self/fd/8: squashfuse_ll failed to mount /cvmfs/soft.computecanada.ca/easybuild/software/2023/x86-64-v3/Core/apptainer/1.4.5/var/apptainer/mnt/session/rootfs in 10s diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_10.out b/workspace/outputs/hpc/logs/eval_h16_field_14842528_10.out new file mode 100644 index 0000000000000000000000000000000000000000..a37caa093ac3aa9f703b79ef5f273e19e6e83734 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_10.out @@ -0,0 +1,16 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 10 +Seed: 1 +Candidates: 32 +Candidate sigma: 0.50 +Selection seed: 94001 +Selection mode: field_optim +Field optim steps: 4 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.02 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k32_sigma0.50/seed_1/online_rollout.json +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_11.err b/workspace/outputs/hpc/logs/eval_h16_field_14842528_11.err new file mode 100644 index 0000000000000000000000000000000000000000..a982c79344efc3234a7649348d27275fb56d79bf --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_11.err @@ -0,0 +1 @@ +FATAL: container creation failed: mount hook function failure: mount /proc/self/fd/7->/cvmfs/soft.computecanada.ca/easybuild/software/2023/x86-64-v3/Core/apptainer/1.4.5/var/apptainer/mnt/session/rootfs error: while mounting image /proc/self/fd/7: squashfuse_ll failed to mount /cvmfs/soft.computecanada.ca/easybuild/software/2023/x86-64-v3/Core/apptainer/1.4.5/var/apptainer/mnt/session/rootfs in 10s diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_11.out b/workspace/outputs/hpc/logs/eval_h16_field_14842528_11.out new file mode 100644 index 0000000000000000000000000000000000000000..b1bf2c7caf690b1e3630f5e34231673b559cb6fb --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_11.out @@ -0,0 +1,16 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 11 +Seed: 2 +Candidates: 32 +Candidate sigma: 0.50 +Selection seed: 94002 +Selection mode: field_optim +Field optim steps: 4 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.02 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k32_sigma0.50/seed_2/online_rollout.json +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_2.err b/workspace/outputs/hpc/logs/eval_h16_field_14842528_2.err new file mode 100644 index 0000000000000000000000000000000000000000..bd6ec55711d234c8e37dcec0d0eb295e1b3c6a77 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_2.err @@ -0,0 +1,6 @@ +2026-06-27 18:21:39,932 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:42,005 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:44,114 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:46,267 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:48,385 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:50,501 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_2.out b/workspace/outputs/hpc/logs/eval_h16_field_14842528_2.out new file mode 100644 index 0000000000000000000000000000000000000000..8cc7a4f7a025c9128e1cc5d780de7900bcc5ebe5 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_2.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 2 +Seed: 2 +Candidates: 1 +Candidate sigma: 0.00 +Selection seed: 91002 +Selection mode: field_optim +Field optim steps: 4 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.02 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k1_sigma0.00/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field_optim", + "num_candidates": 1, + "candidate_sigma": 0.0, + "field_optim_steps": 4, + "field_optim_step_size": 0.05, + "field_optim_trust_radius": 0.5, + "field_optim_l2_penalty": 0.02, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2417391304347826, + "policy_rollout_progress": 0.5269845647721187, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0397046831574128, + "policy_expert_regret": 0.935535910035605, + "action_mse_to_best": 0.41485133323980417, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.1875, + "policy_rollout_progress": 0.6354146927284697, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.1107273153029382, + "policy_expert_regret": 0.9770944616757333, + "action_mse_to_best": 0.3479427481070161, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.04040404040404041, + "policy_rollout_progress": 0.4944484231974741, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.4057243779828452, + "policy_expert_regret": 1.384397162143329, + "action_mse_to_best": 0.34223038080440027, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.17777777777777778, + "policy_rollout_progress": 0.311150934588578, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5933954045590427, + "policy_expert_regret": 0.3070303386905127, + "action_mse_to_best": 0.6251726786295573, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.8316831683168316, + "policy_rollout_progress": 0.8490468691481222, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.31926996253504614, + "policy_expert_regret": 0.28293753555505585, + "action_mse_to_best": 0.3742850503266448, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.14444444444444443, + "policy_rollout_progress": 0.33731342835558786, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.41350101199415, + "policy_expert_regret": 1.2645780030224059, + "action_mse_to_best": 0.4811896248410145, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_optim_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k1_sigma0.00/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_3.err b/workspace/outputs/hpc/logs/eval_h16_field_14842528_3.err new file mode 100644 index 0000000000000000000000000000000000000000..450732c4bb464bd7df2132eae11b5cb796c6dd84 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_3.err @@ -0,0 +1,5 @@ +2026-06-27 18:21:46,657 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:48,708 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:50,842 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:52,985 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:55,109 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_3.out b/workspace/outputs/hpc/logs/eval_h16_field_14842528_3.out new file mode 100644 index 0000000000000000000000000000000000000000..e3178785715ef96cd3c3805f04b66bea6fc94ef2 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_3.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 3 +Seed: 0 +Candidates: 8 +Candidate sigma: 0.20 +Selection seed: 92000 +Selection mode: field_optim +Field optim steps: 4 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.02 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field_optim", + "num_candidates": 8, + "candidate_sigma": 0.2, + "field_optim_steps": 4, + "field_optim_step_size": 0.05, + "field_optim_trust_radius": 0.5, + "field_optim_l2_penalty": 0.02, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2417391304347826, + "policy_rollout_progress": 0.5251557968394912, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0315663458309743, + "policy_expert_regret": 0.9522585669969735, + "action_mse_to_best": 0.3893296971884759, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.25773195876288657, + "policy_rollout_progress": 0.6562606996482181, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.0284317341661944, + "policy_expert_regret": 1.002053538855818, + "action_mse_to_best": 0.3167373553859358, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.04807692307692308, + "policy_rollout_progress": 0.4694505332198997, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.4077597967116162, + "policy_expert_regret": 1.3943369292851107, + "action_mse_to_best": 0.3084647181049849, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3380576056706441, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4383279656047945, + "policy_expert_regret": 0.23649730296297508, + "action_mse_to_best": 0.6139777099544351, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.7446808510638298, + "policy_rollout_progress": 0.7718604216550259, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.4834587272811443, + "policy_expert_regret": 0.4052272028428443, + "action_mse_to_best": 0.39689942821860313, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.18181818181818182, + "policy_rollout_progress": 0.4250128195442335, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.2260844364310757, + "policy_expert_regret": 1.0507651723996558, + "action_mse_to_best": 0.44844001137435135, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_optim_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_4.err b/workspace/outputs/hpc/logs/eval_h16_field_14842528_4.err new file mode 100644 index 0000000000000000000000000000000000000000..a7c334032efa0b36e26772dfb43cf1087d2485f2 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_4.err @@ -0,0 +1,5 @@ +2026-06-27 18:21:44,232 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:46,268 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:48,342 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:50,460 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:52,519 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_4.out b/workspace/outputs/hpc/logs/eval_h16_field_14842528_4.out new file mode 100644 index 0000000000000000000000000000000000000000..1441391f6846868b254d83c50cc56354426c08e8 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_4.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 4 +Seed: 1 +Candidates: 8 +Candidate sigma: 0.20 +Selection seed: 92001 +Selection mode: field_optim +Field optim steps: 4 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.02 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field_optim", + "num_candidates": 8, + "candidate_sigma": 0.2, + "field_optim_steps": 4, + "field_optim_step_size": 0.05, + "field_optim_trust_radius": 0.5, + "field_optim_l2_penalty": 0.02, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.25217391304347825, + "policy_rollout_progress": 0.52408728260142, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0232285326711186, + "policy_expert_regret": 0.9344754215613331, + "action_mse_to_best": 0.3996870838591586, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.21238938053097345, + "policy_rollout_progress": 0.6609668837184399, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0475532074945162, + "policy_expert_regret": 0.9565544418529072, + "action_mse_to_best": 0.3307521107021423, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.010869565217391304, + "policy_rollout_progress": 0.43558798558534245, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.4769888006165908, + "policy_expert_regret": 1.4694518956492413, + "action_mse_to_best": 0.32586156714545644, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.13157894736842105, + "policy_rollout_progress": 0.26700859815862615, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6036569659941291, + "policy_expert_regret": 0.3357601676528391, + "action_mse_to_best": 0.5786957227085766, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.835585828702729, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.34459435147745116, + "policy_expert_regret": 0.29417850627555503, + "action_mse_to_best": 0.3886206160123284, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.1978021978021978, + "policy_rollout_progress": 0.3678028554051787, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.2537258472088928, + "policy_expert_regret": 1.106395381656322, + "action_mse_to_best": 0.4985581654031853, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_optim_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_5.err b/workspace/outputs/hpc/logs/eval_h16_field_14842528_5.err new file mode 100644 index 0000000000000000000000000000000000000000..840e03962612abf065bae6eae22e75cd6e0d984a --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_5.err @@ -0,0 +1,6 @@ +2026-06-27 18:21:39,758 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:41,791 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:43,875 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:46,036 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:48,140 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:50,254 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_5.out b/workspace/outputs/hpc/logs/eval_h16_field_14842528_5.out new file mode 100644 index 0000000000000000000000000000000000000000..6f7cf24577c879407364c37335bf29b9012d1a8e --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_5.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 5 +Seed: 2 +Candidates: 8 +Candidate sigma: 0.20 +Selection seed: 92002 +Selection mode: field_optim +Field optim steps: 4 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.02 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field_optim", + "num_candidates": 8, + "candidate_sigma": 0.2, + "field_optim_steps": 4, + "field_optim_step_size": 0.05, + "field_optim_trust_radius": 0.5, + "field_optim_l2_penalty": 0.02, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.22956521739130434, + "policy_rollout_progress": 0.5218091125312545, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0523480505808054, + "policy_expert_regret": 0.9540261849813649, + "action_mse_to_best": 0.42410068074160295, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.1875, + "policy_rollout_progress": 0.6431976957246661, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.0896811264877517, + "policy_expert_regret": 0.969089585977296, + "action_mse_to_best": 0.3535835361981299, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.04040404040404041, + "policy_rollout_progress": 0.4947132789071254, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.405459522273194, + "policy_expert_regret": 1.384132306433678, + "action_mse_to_best": 0.344063895782738, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.3336249701833973, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5349132894486602, + "policy_expert_regret": 0.2917847439698461, + "action_mse_to_best": 0.6478720838824908, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8072664808518816, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.4105553013263362, + "policy_expert_regret": 0.3565023746525887, + "action_mse_to_best": 0.386228519279768, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.08888888888888889, + "policy_rollout_progress": 0.31977633121940824, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.4733497116300796, + "policy_expert_regret": 1.3245210293266507, + "action_mse_to_best": 0.4941294732193152, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_optim_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k8_sigma0.20/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_6.err b/workspace/outputs/hpc/logs/eval_h16_field_14842528_6.err new file mode 100644 index 0000000000000000000000000000000000000000..9897dda82137abe2a200db5ca3af50e9c21ec5a7 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_6.err @@ -0,0 +1,5 @@ +2026-06-27 18:21:46,688 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:48,731 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:50,853 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:53,028 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:21:55,140 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_6.out b/workspace/outputs/hpc/logs/eval_h16_field_14842528_6.out new file mode 100644 index 0000000000000000000000000000000000000000..59d5cea107e75a6b96c43a346a4b09210b5adb3d --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_6.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 6 +Seed: 0 +Candidates: 16 +Candidate sigma: 0.35 +Selection seed: 93000 +Selection mode: field_optim +Field optim steps: 4 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.02 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k16_sigma0.35/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field_optim", + "num_candidates": 16, + "candidate_sigma": 0.35, + "field_optim_steps": 4, + "field_optim_step_size": 0.05, + "field_optim_trust_radius": 0.5, + "field_optim_l2_penalty": 0.02, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.24347826086956523, + "policy_rollout_progress": 0.5289620748977515, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0241229962357794, + "policy_expert_regret": 0.946904164409616, + "action_mse_to_best": 0.390246681454389, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.25773195876288657, + "policy_rollout_progress": 0.6514236106700504, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.033257112982347, + "policy_expert_regret": 1.0068789176719706, + "action_mse_to_best": 0.31632087363371836, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.04807692307692308, + "policy_rollout_progress": 0.47146958250624055, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.4057407474252754, + "policy_expert_regret": 1.3923178799987699, + "action_mse_to_best": 0.3099510838779119, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.23376623376623376, + "policy_rollout_progress": 0.3531065471752575, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.3980089887791188, + "policy_expert_regret": 0.25833353278876253, + "action_mse_to_best": 0.6181663733411145, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.7659574468085106, + "policy_rollout_progress": 0.7879649159756112, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.4460776372158781, + "policy_expert_regret": 0.3669963699389011, + "action_mse_to_best": 0.40011150191756006, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.15151515151515152, + "policy_rollout_progress": 0.42062144884557434, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.249219367449934, + "policy_expert_regret": 1.0384967644708325, + "action_mse_to_best": 0.44474343151192774, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_optim_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k16_sigma0.35/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_7.err b/workspace/outputs/hpc/logs/eval_h16_field_14842528_7.err new file mode 100644 index 0000000000000000000000000000000000000000..8721484f8abe1cff2e33246ab3e15da81f3e0818 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_7.err @@ -0,0 +1,5 @@ +2026-06-27 18:25:33,111 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:35,135 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:37,199 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:39,351 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:41,402 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_7.out b/workspace/outputs/hpc/logs/eval_h16_field_14842528_7.out new file mode 100644 index 0000000000000000000000000000000000000000..54d1be16245ac332a97b3ac047461e291c89c909 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_7.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 7 +Seed: 1 +Candidates: 16 +Candidate sigma: 0.35 +Selection seed: 93001 +Selection mode: field_optim +Field optim steps: 4 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.02 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k16_sigma0.35/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field_optim", + "num_candidates": 16, + "candidate_sigma": 0.35, + "field_optim_steps": 4, + "field_optim_step_size": 0.05, + "field_optim_trust_radius": 0.5, + "field_optim_l2_penalty": 0.02, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.24347826086956523, + "policy_rollout_progress": 0.5165389964462298, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.039217270862959, + "policy_expert_regret": 0.9487168673498799, + "action_mse_to_best": 0.4029614827927688, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23893805309734514, + "policy_rollout_progress": 0.6748347817796522, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0071366368669323, + "policy_expert_regret": 0.925960123538971, + "action_mse_to_best": 0.3265482701146893, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.010869565217391304, + "policy_rollout_progress": 0.43528266355101747, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.4772941226509158, + "policy_expert_regret": 1.4697572176835663, + "action_mse_to_best": 0.3257596911660031, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.15789473684210525, + "policy_rollout_progress": 0.28927135144017246, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5531476327267132, + "policy_expert_regret": 0.28736334068602637, + "action_mse_to_best": 0.5878818454711061, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.7837837837837838, + "policy_rollout_progress": 0.8020827940723918, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.4141334221438245, + "policy_expert_regret": 0.36372163905216764, + "action_mse_to_best": 0.40456463876474014, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.13186813186813187, + "policy_rollout_progress": 0.3257776886879743, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3616850798601632, + "policy_expert_regret": 1.1893479218194773, + "action_mse_to_best": 0.4975540631829382, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_optim_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k16_sigma0.35/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_8.err b/workspace/outputs/hpc/logs/eval_h16_field_14842528_8.err new file mode 100644 index 0000000000000000000000000000000000000000..5a285dc7a289631ef575e18db605272bcba3ef77 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_8.err @@ -0,0 +1,6 @@ +2026-06-27 18:25:31,881 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:33,893 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:36,005 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:38,077 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:40,187 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:42,261 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_8.out b/workspace/outputs/hpc/logs/eval_h16_field_14842528_8.out new file mode 100644 index 0000000000000000000000000000000000000000..5c8423478e1e0f9ed5e14861216afc570a485d8a --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_8.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 8 +Seed: 2 +Candidates: 16 +Candidate sigma: 0.35 +Selection seed: 93002 +Selection mode: field_optim +Field optim steps: 4 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.02 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k16_sigma0.35/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field_optim", + "num_candidates": 16, + "candidate_sigma": 0.35, + "field_optim_steps": 4, + "field_optim_step_size": 0.05, + "field_optim_trust_radius": 0.5, + "field_optim_l2_penalty": 0.02, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.24, + "policy_rollout_progress": 0.5256201127618956, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0462085215883006, + "policy_expert_regret": 0.9462031736619689, + "action_mse_to_best": 0.42602388454520185, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.19791666666666666, + "policy_rollout_progress": 0.6382713741622865, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.0841905994651218, + "policy_expert_regret": 0.9503137821642061, + "action_mse_to_best": 0.3519886921470364, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.04040404040404041, + "policy_rollout_progress": 0.4946433123032976, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.4055294888770218, + "policy_expert_regret": 1.3842022730375056, + "action_mse_to_best": 0.34274348870597104, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.3432616694105996, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5527156790097555, + "policy_expert_regret": 0.3146628489717841, + "action_mse_to_best": 0.6682874644796054, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.801980198019802, + "policy_rollout_progress": 0.8211318818059298, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.3768879201742682, + "policy_expert_regret": 0.32143961734110765, + "action_mse_to_best": 0.3917583738370697, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.1111111111111111, + "policy_rollout_progress": 0.32433629747894077, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.4598074724276862, + "policy_expert_regret": 1.3108843771947756, + "action_mse_to_best": 0.484401564920942, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_optim_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k16_sigma0.35/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_9.err b/workspace/outputs/hpc/logs/eval_h16_field_14842528_9.err new file mode 100644 index 0000000000000000000000000000000000000000..7bcbbb44452959d74b4a65f0745f5111c8604489 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_9.err @@ -0,0 +1,5 @@ +2026-06-27 18:25:34,561 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:36,608 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:38,756 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:40,858 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:25:42,967 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842528_9.out b/workspace/outputs/hpc/logs/eval_h16_field_14842528_9.out new file mode 100644 index 0000000000000000000000000000000000000000..5c8cfcafa78c92ea0ea9e1bbb52a88d0b0058604 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842528_9.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 9 +Seed: 0 +Candidates: 32 +Candidate sigma: 0.50 +Selection seed: 94000 +Selection mode: field_optim +Field optim steps: 4 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.02 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k32_sigma0.50/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field_optim", + "num_candidates": 32, + "candidate_sigma": 0.5, + "field_optim_steps": 4, + "field_optim_step_size": 0.05, + "field_optim_trust_radius": 0.5, + "field_optim_l2_penalty": 0.02, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2539130434782609, + "policy_rollout_progress": 0.5365319993136369, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0063152354485962, + "policy_expert_regret": 0.9391702246196244, + "action_mse_to_best": 0.3908262099843958, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.29896907216494845, + "policy_rollout_progress": 0.6630521756164807, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 0.9803915624458766, + "policy_expert_regret": 0.9540133671355002, + "action_mse_to_best": 0.3133223102687253, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.04807692307692308, + "policy_rollout_progress": 0.4696219289415659, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.40758840098995, + "policy_expert_regret": 1.3941655335634446, + "action_mse_to_best": 0.3123190854496967, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2597402597402597, + "policy_rollout_progress": 0.3750774884330375, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.35152300004544973, + "policy_expert_regret": 0.2396799704519572, + "action_mse_to_best": 0.6222828338285545, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.776595744680851, + "policy_rollout_progress": 0.7975971521215236, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.4258071031976253, + "policy_expert_regret": 0.38544646381063663, + "action_mse_to_best": 0.4014465888129904, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.1414141414141414, + "policy_rollout_progress": 0.43084220648413957, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.249108613289968, + "policy_expert_regret": 1.0384830933327627, + "action_mse_to_best": 0.44160282139600526, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_optim_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_optim_sweep/near_miss_policy_bc5_bestpt_s4_trust05/k32_sigma0.50/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_0.err b/workspace/outputs/hpc/logs/eval_h16_field_14842577_0.err new file mode 100644 index 0000000000000000000000000000000000000000..ce6a9a6d45f9025c123e3746d936b9b383e248df --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_0.err @@ -0,0 +1,5 @@ +2026-06-27 18:34:20,186 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:34:22,283 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:34:24,457 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:34:26,661 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:34:28,766 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_0.out b/workspace/outputs/hpc/logs/eval_h16_field_14842577_0.out new file mode 100644 index 0000000000000000000000000000000000000000..f700a92299a21ba473adf6646f83a43bf7ee4592 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_0.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 0 +Seed: 0 +Candidates: 8 +Candidate sigma: 0.10 +Selection seed: 91000 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k8_sigma0.10/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 8, + "candidate_sigma": 0.1, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.24521739130434783, + "policy_rollout_progress": 0.4916666813407336, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0520232715407063, + "policy_expert_regret": 0.9628436689514099, + "action_mse_to_best": 0.4524545120091542, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.14432989690721648, + "policy_rollout_progress": 0.5431373600185532, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.228676609925388, + "policy_expert_regret": 1.1890621543237843, + "action_mse_to_best": 0.36152367228546095, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.1875, + "policy_rollout_progress": 0.5209172252815244, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.2168700277269147, + "policy_expert_regret": 1.2102034536728752, + "action_mse_to_best": 0.3476500255593027, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.16883116883116883, + "policy_rollout_progress": 0.3158751792764267, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.47666968106800184, + "policy_expert_regret": 0.23013423346043504, + "action_mse_to_best": 0.7061071962892235, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6808510638297872, + "policy_rollout_progress": 0.701535238864574, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6176136973056388, + "policy_expert_regret": 0.5378522131037204, + "action_mse_to_best": 0.45377475356167934, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.1111111111111111, + "policy_rollout_progress": 0.31723771447485144, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.3925609213836265, + "policy_expert_regret": 1.1949022051059839, + "action_mse_to_best": 0.5632046659411204, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k8_sigma0.10/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_1.err b/workspace/outputs/hpc/logs/eval_h16_field_14842577_1.err new file mode 100644 index 0000000000000000000000000000000000000000..74ec7cefe32ad9e303c81aee736541126d9c3c3d --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_1.err @@ -0,0 +1,5 @@ +2026-06-27 18:37:46,202 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:37:48,335 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:37:50,463 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:37:52,612 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:37:54,815 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_1.out b/workspace/outputs/hpc/logs/eval_h16_field_14842577_1.out new file mode 100644 index 0000000000000000000000000000000000000000..f972858712a92826375cca98ff28c86d769dfc97 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_1.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 1 +Seed: 1 +Candidates: 8 +Candidate sigma: 0.10 +Selection seed: 91001 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k8_sigma0.10/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 8, + "candidate_sigma": 0.1, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.26260869565217393, + "policy_rollout_progress": 0.5003497520121544, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0411602802218303, + "policy_expert_regret": 0.9484697661808004, + "action_mse_to_best": 0.46732707200005, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.13274336283185842, + "policy_rollout_progress": 0.5155556234901986, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.2726808705952315, + "policy_expert_regret": 1.1937605795343365, + "action_mse_to_best": 0.3871589671836886, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.1956521739130435, + "policy_rollout_progress": 0.5304642929695547, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.2127604486785182, + "policy_expert_regret": 1.2052235437111687, + "action_mse_to_best": 0.3765532473385658, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.10526315789473684, + "policy_rollout_progress": 0.2620575173856004, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6173880723010945, + "policy_expert_regret": 0.387804974581262, + "action_mse_to_best": 0.6689964332127649, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.7207207207207207, + "policy_rollout_progress": 0.7494887763315493, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.52979050294773, + "policy_expert_regret": 0.44538252471803547, + "action_mse_to_best": 0.42434008553758396, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.13186813186813187, + "policy_rollout_progress": 0.3156952368361609, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3843742952896998, + "policy_expert_regret": 1.2066307660642561, + "action_mse_to_best": 0.6344266722981746, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k8_sigma0.10/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_10.err b/workspace/outputs/hpc/logs/eval_h16_field_14842577_10.err new file mode 100644 index 0000000000000000000000000000000000000000..909b8544345eac737ac893fb4756c23dc8f6f1df --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_10.err @@ -0,0 +1,5 @@ +2026-06-27 18:33:06,103 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:33:08,279 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:33:10,435 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:33:12,725 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:33:14,970 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_10.out b/workspace/outputs/hpc/logs/eval_h16_field_14842577_10.out new file mode 100644 index 0000000000000000000000000000000000000000..92c52893a571b05c426933c846a873b61381b8d2 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_10.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 10 +Seed: 1 +Candidates: 64 +Candidate sigma: 0.50 +Selection seed: 94001 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k64_sigma0.50/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 64, + "candidate_sigma": 0.5, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.26956521739130435, + "policy_rollout_progress": 0.5022271202715195, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.033790238238871, + "policy_expert_regret": 0.9530755318296344, + "action_mse_to_best": 0.4864421434927246, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.12389380530973451, + "policy_rollout_progress": 0.518719785640725, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.289627820385241, + "policy_expert_regret": 1.2107075293243459, + "action_mse_to_best": 0.3862276160595032, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.1956521739130435, + "policy_rollout_progress": 0.5238371952133172, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.2193875464347557, + "policy_expert_regret": 1.211850641467406, + "action_mse_to_best": 0.39618182427290344, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.15789473684210525, + "policy_rollout_progress": 0.29850233055798236, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.522642692808356, + "policy_expert_regret": 0.35917731865897384, + "action_mse_to_best": 0.747883105589273, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.7117117117117117, + "policy_rollout_progress": 0.7389255927221196, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.5493626955661688, + "policy_expert_regret": 0.4817217659574371, + "action_mse_to_best": 0.43588705656227766, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.31947578620779643, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3586157239400423, + "policy_expert_regret": 1.1808721947145986, + "action_mse_to_best": 0.6367085376283624, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k64_sigma0.50/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_11.err b/workspace/outputs/hpc/logs/eval_h16_field_14842577_11.err new file mode 100644 index 0000000000000000000000000000000000000000..2f48ae008c0e85f0d39967d5aedaecd992840ee4 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_11.err @@ -0,0 +1,6 @@ +2026-06-27 18:33:03,748 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:33:06,220 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:33:08,404 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:33:10,550 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:33:12,755 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:33:14,960 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_11.out b/workspace/outputs/hpc/logs/eval_h16_field_14842577_11.out new file mode 100644 index 0000000000000000000000000000000000000000..2e1e22422a6fbf2b1c06e5814720044d3551ed32 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_11.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 11 +Seed: 2 +Candidates: 64 +Candidate sigma: 0.50 +Selection seed: 94002 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k64_sigma0.50/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 64, + "candidate_sigma": 0.5, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.28347826086956524, + "policy_rollout_progress": 0.5176484204051287, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0018333465703155, + "policy_expert_regret": 0.9128569087062193, + "action_mse_to_best": 0.5004424169724402, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.21875, + "policy_rollout_progress": 0.6228157593868673, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.065440983666728, + "policy_expert_regret": 0.9720403482206166, + "action_mse_to_best": 0.4013568146813971, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.22727272727272727, + "policy_rollout_progress": 0.5412212638372574, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.17933312364186, + "policy_expert_regret": 1.1722496731131515, + "action_mse_to_best": 0.3729282287749076, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.12222222222222222, + "policy_rollout_progress": 0.2539229686682423, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.6969465435586042, + "policy_expert_regret": 0.3964810552903347, + "action_mse_to_best": 0.8188039211142394, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8004673908252528, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.4173543913529651, + "policy_expert_regret": 0.37918733148881706, + "action_mse_to_best": 0.4307129751927782, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.07777777777777778, + "policy_rollout_progress": 0.2999493882060051, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.5042877657545937, + "policy_expert_regret": 1.3943355371554693, + "action_mse_to_best": 0.6465553650839462, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k64_sigma0.50/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_2.err b/workspace/outputs/hpc/logs/eval_h16_field_14842577_2.err new file mode 100644 index 0000000000000000000000000000000000000000..06f4a880c572299090abbf8f6ab492d8b67e0f9c --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_2.err @@ -0,0 +1,6 @@ +2026-06-27 18:29:57,977 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:30:00,169 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:30:02,491 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:30:04,723 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:30:07,041 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:30:09,244 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_2.out b/workspace/outputs/hpc/logs/eval_h16_field_14842577_2.out new file mode 100644 index 0000000000000000000000000000000000000000..f04c7bff2c0636d3060a03dffc21b4c5eef35290 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_2.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 2 +Seed: 2 +Candidates: 8 +Candidate sigma: 0.10 +Selection seed: 91002 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k8_sigma0.10/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 8, + "candidate_sigma": 0.1, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2817391304347826, + "policy_rollout_progress": 0.5176694101440776, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0061579653793444, + "policy_expert_regret": 0.92652901611034, + "action_mse_to_best": 0.4807908735229917, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.20833333333333334, + "policy_rollout_progress": 0.624040465336293, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.0878960588015616, + "policy_expert_regret": 1.0079390796211858, + "action_mse_to_best": 0.39125924691325054, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.22727272727272727, + "policy_rollout_progress": 0.5430827173357359, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.1774716701433816, + "policy_expert_regret": 1.170388219614673, + "action_mse_to_best": 0.36567344943607094, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.28386651941198376, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.6361748364926219, + "policy_expert_regret": 0.38108951423176524, + "action_mse_to_best": 0.7307745517128044, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7524752475247525, + "policy_rollout_progress": 0.7767425154400344, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.47078223703521316, + "policy_expert_regret": 0.43261517717106507, + "action_mse_to_best": 0.4313800072315896, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.07777777777777778, + "policy_rollout_progress": 0.2913629702395863, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.5128741837210125, + "policy_expert_regret": 1.402921955121888, + "action_mse_to_best": 0.6350159022129245, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k8_sigma0.10/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_3.err b/workspace/outputs/hpc/logs/eval_h16_field_14842577_3.err new file mode 100644 index 0000000000000000000000000000000000000000..817bc9ce52303fcf71f3d0a10f15490c1dfc42d8 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_3.err @@ -0,0 +1,5 @@ +2026-06-27 18:29:58,354 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:30:00,505 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:30:02,717 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:30:04,973 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:30:07,144 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_3.out b/workspace/outputs/hpc/logs/eval_h16_field_14842577_3.out new file mode 100644 index 0000000000000000000000000000000000000000..2954f30657adb8a36c7bc19b87c2e10eae17e38c --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_3.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 3 +Seed: 0 +Candidates: 16 +Candidate sigma: 0.20 +Selection seed: 92000 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k16_sigma0.20/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 16, + "candidate_sigma": 0.2, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.23304347826086957, + "policy_rollout_progress": 0.481306260572139, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0684228070851658, + "policy_expert_regret": 0.9733695856443323, + "action_mse_to_best": 0.45690098340744556, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.14432989690721648, + "policy_rollout_progress": 0.5436697447115613, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.22814422523238, + "policy_expert_regret": 1.1752674995931154, + "action_mse_to_best": 0.36156272988036736, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.1875, + "policy_rollout_progress": 0.5193353609664393, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.2184518920419998, + "policy_expert_regret": 1.2117853179879603, + "action_mse_to_best": 0.35019572166940915, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.12987012987012986, + "policy_rollout_progress": 0.28333891163785735, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.5023551824224459, + "policy_expert_regret": 0.25227385023971655, + "action_mse_to_best": 0.7272258265935755, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6382978723404256, + "policy_rollout_progress": 0.6673411592207057, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6943609684388689, + "policy_expert_regret": 0.595260574304043, + "action_mse_to_best": 0.45739054711575206, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.1111111111111111, + "policy_rollout_progress": 0.3176385287684624, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.3921601070900156, + "policy_expert_regret": 1.194501390812373, + "action_mse_to_best": 0.5637845502733582, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k16_sigma0.20/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_4.err b/workspace/outputs/hpc/logs/eval_h16_field_14842577_4.err new file mode 100644 index 0000000000000000000000000000000000000000..eed6156bb60281a98ac5560d4853dfff3a7da7ab --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_4.err @@ -0,0 +1,5 @@ +2026-06-27 18:29:39,534 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:29:41,707 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:29:43,852 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:29:46,052 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:29:48,221 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_4.out b/workspace/outputs/hpc/logs/eval_h16_field_14842577_4.out new file mode 100644 index 0000000000000000000000000000000000000000..5462d3826aece0b560bd765d597c4a49d14adc39 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_4.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 4 +Seed: 1 +Candidates: 16 +Candidate sigma: 0.20 +Selection seed: 92001 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k16_sigma0.20/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 16, + "candidate_sigma": 0.2, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2608695652173913, + "policy_rollout_progress": 0.4960327315978382, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0487494719417199, + "policy_expert_regret": 0.9624327446714691, + "action_mse_to_best": 0.4718579385429621, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.11504424778761062, + "policy_rollout_progress": 0.5178761330589784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.2993210304891114, + "policy_expert_regret": 1.2091129610760023, + "action_mse_to_best": 0.38650470532773606, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.1956521739130435, + "policy_rollout_progress": 0.5235967556034903, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.2196279860445824, + "policy_expert_regret": 1.212091081077233, + "action_mse_to_best": 0.37929783941691986, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.15789473684210525, + "policy_rollout_progress": 0.29480838469278653, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5268601372494901, + "policy_expert_regret": 0.388238598372003, + "action_mse_to_best": 0.6850374752631117, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.6936936936936937, + "policy_rollout_progress": 0.7210915557167552, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.5852147505895512, + "policy_expert_regret": 0.4830353117740906, + "action_mse_to_best": 0.4314351695346403, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.13186813186813187, + "policy_rollout_progress": 0.30670785363558883, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.393361678490272, + "policy_expert_regret": 1.2156181492648281, + "action_mse_to_best": 0.636267346913343, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k16_sigma0.20/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_5.err b/workspace/outputs/hpc/logs/eval_h16_field_14842577_5.err new file mode 100644 index 0000000000000000000000000000000000000000..dedbc778a54be4d61af4b5149c04fb8aba863dc3 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_5.err @@ -0,0 +1,6 @@ +2026-06-27 18:34:05,831 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:34:07,876 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:34:10,053 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:34:12,164 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:34:14,276 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:34:16,405 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_5.out b/workspace/outputs/hpc/logs/eval_h16_field_14842577_5.out new file mode 100644 index 0000000000000000000000000000000000000000..109d23b7a68dafde8de59a02aad7468b9ff76ea4 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_5.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 5 +Seed: 2 +Candidates: 16 +Candidate sigma: 0.20 +Selection seed: 92002 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k16_sigma0.20/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 16, + "candidate_sigma": 0.2, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2747826086956522, + "policy_rollout_progress": 0.5104861472660432, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0199974096550242, + "policy_expert_regret": 0.9293280373918621, + "action_mse_to_best": 0.485496546017087, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.19791666666666666, + "policy_rollout_progress": 0.6075957007706165, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.1147574900339048, + "policy_expert_regret": 1.0213091777016718, + "action_mse_to_best": 0.3917640429184151, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.22727272727272727, + "policy_rollout_progress": 0.5374011066977424, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.183153280781375, + "policy_expert_regret": 1.1760698302526666, + "action_mse_to_best": 0.3677950848947571, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.12222222222222222, + "policy_rollout_progress": 0.26258616872752705, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.6888696794398129, + "policy_expert_regret": 0.3977184874833458, + "action_mse_to_best": 0.753667805240386, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7524752475247525, + "policy_rollout_progress": 0.7748554881551478, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.4726692643200997, + "policy_expert_regret": 0.41660966023360146, + "action_mse_to_best": 0.43290947510464356, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.07777777777777778, + "policy_rollout_progress": 0.2989085420966148, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.505328611863984, + "policy_expert_regret": 1.3953763832648596, + "action_mse_to_best": 0.6352642174810171, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k16_sigma0.20/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_6.err b/workspace/outputs/hpc/logs/eval_h16_field_14842577_6.err new file mode 100644 index 0000000000000000000000000000000000000000..2ff1035292092e7e5d31128faa5a4eb3d2af48ca --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_6.err @@ -0,0 +1,5 @@ +2026-06-27 18:32:09,938 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:32:12,142 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:32:14,415 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:32:16,646 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:32:18,791 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_6.out b/workspace/outputs/hpc/logs/eval_h16_field_14842577_6.out new file mode 100644 index 0000000000000000000000000000000000000000..9a97f928982f0fb5d2708d0341643fcbce8d3619 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_6.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 6 +Seed: 0 +Candidates: 32 +Candidate sigma: 0.35 +Selection seed: 93000 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k32_sigma0.35/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.35, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.23478260869565218, + "policy_rollout_progress": 0.48394788081616, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0612366252451244, + "policy_expert_regret": 0.9785221742508609, + "action_mse_to_best": 0.45940005344541174, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.13402061855670103, + "policy_rollout_progress": 0.5349013708608666, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.2472596925865744, + "policy_expert_regret": 1.1945109934229212, + "action_mse_to_best": 0.3602740007654293, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.1875, + "policy_rollout_progress": 0.5231065063019812, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.2146807467064578, + "policy_expert_regret": 1.2080141726524185, + "action_mse_to_best": 0.3544642553628924, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.14285714285714285, + "policy_rollout_progress": 0.2960374831863038, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4556723123343734, + "policy_expert_regret": 0.2739613295665809, + "action_mse_to_best": 0.7321509141716864, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.648936170212766, + "policy_rollout_progress": 0.6737393738424524, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6773244559447816, + "policy_expert_regret": 0.5975629717428633, + "action_mse_to_best": 0.45896308385628337, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.1111111111111111, + "policy_rollout_progress": 0.31769755392363574, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.3921010819348423, + "policy_expert_regret": 1.1944423656571994, + "action_mse_to_best": 0.5652700734108386, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k32_sigma0.35/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_7.err b/workspace/outputs/hpc/logs/eval_h16_field_14842577_7.err new file mode 100644 index 0000000000000000000000000000000000000000..f365d0705777669d089ecf232d1239b456451f2f --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_7.err @@ -0,0 +1,5 @@ +2026-06-27 18:32:07,701 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:32:09,846 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:32:11,999 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:32:14,201 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:32:16,361 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_7.out b/workspace/outputs/hpc/logs/eval_h16_field_14842577_7.out new file mode 100644 index 0000000000000000000000000000000000000000..cde8664a623c57cf9332dbdd715f3e9b80891fc0 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_7.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 7 +Seed: 1 +Candidates: 32 +Candidate sigma: 0.35 +Selection seed: 93001 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k32_sigma0.35/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.35, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.26608695652173914, + "policy_rollout_progress": 0.501970462889775, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.03767179083565, + "policy_expert_regret": 0.95510023040616, + "action_mse_to_best": 0.4788765658988901, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.11504424778761062, + "policy_rollout_progress": 0.5171771478072732, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.3000200157408166, + "policy_expert_regret": 1.2098119463277075, + "action_mse_to_best": 0.38885907191717256, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.1956521739130435, + "policy_rollout_progress": 0.5256286546810651, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.2175960869670077, + "policy_expert_regret": 1.210059181999658, + "action_mse_to_best": 0.38886870478239394, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.15789473684210525, + "policy_rollout_progress": 0.2927222623685865, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5295321655851838, + "policy_expert_regret": 0.34390143371236165, + "action_mse_to_best": 0.7087747321194527, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.7117117117117117, + "policy_rollout_progress": 0.7421790546662098, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.5461092336220784, + "policy_expert_regret": 0.4955169083298864, + "action_mse_to_best": 0.43596628912397334, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.14285714285714285, + "policy_rollout_progress": 0.3170061427485812, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3720743783882685, + "policy_expert_regret": 1.1943308491628248, + "action_mse_to_best": 0.63298869067496, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k32_sigma0.35/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_8.err b/workspace/outputs/hpc/logs/eval_h16_field_14842577_8.err new file mode 100644 index 0000000000000000000000000000000000000000..60cf772390b684c7b7af609c82f7fe76f819b2c5 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_8.err @@ -0,0 +1,6 @@ +2026-06-27 18:31:02,206 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:31:04,357 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:31:06,640 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:31:08,854 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:31:11,094 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:31:13,320 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_8.out b/workspace/outputs/hpc/logs/eval_h16_field_14842577_8.out new file mode 100644 index 0000000000000000000000000000000000000000..2f4e5f3d7289de6789c80591635a1307513d5882 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_8.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 8 +Seed: 2 +Candidates: 32 +Candidate sigma: 0.35 +Selection seed: 93002 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k32_sigma0.35/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.35, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.28, + "policy_rollout_progress": 0.5187479670734509, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0016062843216502, + "policy_expert_regret": 0.9163132403790951, + "action_mse_to_best": 0.4931828594402127, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.19791666666666666, + "policy_rollout_progress": 0.6229077071572343, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.0861823692296941, + "policy_expert_regret": 0.9923351087297002, + "action_mse_to_best": 0.39279332409690443, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.22727272727272727, + "policy_rollout_progress": 0.542693428478834, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.1778609590002833, + "policy_expert_regret": 1.170777508471575, + "action_mse_to_best": 0.36930092557737926, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.28941386095765564, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.6114743017281096, + "policy_expert_regret": 0.33501800801604986, + "action_mse_to_best": 0.7964321372616622, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7524752475247525, + "policy_rollout_progress": 0.7737100572869329, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.4738146951883146, + "policy_expert_regret": 0.43564763532416656, + "action_mse_to_best": 0.4326566268902014, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.07777777777777778, + "policy_rollout_progress": 0.29817421187957127, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.5060629420810276, + "policy_expert_regret": 1.396110713481903, + "action_mse_to_best": 0.6374798903448714, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k32_sigma0.35/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_9.err b/workspace/outputs/hpc/logs/eval_h16_field_14842577_9.err new file mode 100644 index 0000000000000000000000000000000000000000..37c58424f9cdbef94d5e6b528cc83aa683b8eed8 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_9.err @@ -0,0 +1,5 @@ +2026-06-27 18:31:04,828 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:31:07,040 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:31:09,316 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:31:11,593 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-27 18:31:13,828 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14842577_9.out b/workspace/outputs/hpc/logs/eval_h16_field_14842577_9.out new file mode 100644 index 0000000000000000000000000000000000000000..4f38f13c4dd52abfbdf1cc16e7b816acb2b7e958 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14842577_9.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 9 +Seed: 0 +Candidates: 64 +Candidate sigma: 0.50 +Selection seed: 94000 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k64_sigma0.50/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/nonexpert_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 64, + "candidate_sigma": 0.5, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2417391304347826, + "policy_rollout_progress": 0.48701095541271017, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0507549833176333, + "policy_expert_regret": 0.9675433267290583, + "action_mse_to_best": 0.4654962586708691, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.13402061855670103, + "policy_rollout_progress": 0.5346449870116932, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.2474782612827635, + "policy_expert_regret": 1.1947295621191103, + "action_mse_to_best": 0.36090343257354707, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.1875, + "policy_rollout_progress": 0.5176918977225656, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.2200953552858733, + "policy_expert_regret": 1.2134287812318338, + "action_mse_to_best": 0.3632729712049835, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.19480519480519481, + "policy_rollout_progress": 0.3336467531497602, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.3627122872351826, + "policy_expert_regret": 0.17728840554882955, + "action_mse_to_best": 0.7499213425757049, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.648936170212766, + "policy_rollout_progress": 0.6736880382324787, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6773757915547554, + "policy_expert_regret": 0.597614307352837, + "action_mse_to_best": 0.45963364276797214, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.1111111111111111, + "policy_rollout_progress": 0.31791257888379726, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.3918860569746807, + "policy_expert_regret": 1.194227340697038, + "action_mse_to_best": 0.5670952723935397, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_nonexpert_policy_bc5_bestpt_field_sweep/k64_sigma0.50/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_0.err b/workspace/outputs/hpc/logs/eval_h16_field_14858331_0.err new file mode 100644 index 0000000000000000000000000000000000000000..88e9bb23545cf1224224917e887ac18f3e88a6e7 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_0.err @@ -0,0 +1,5 @@ +2026-06-28 01:12:26,665 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:12:28,732 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:12:30,892 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:12:33,005 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:12:35,184 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_0.out b/workspace/outputs/hpc/logs/eval_h16_field_14858331_0.out new file mode 100644 index 0000000000000000000000000000000000000000..bbc730b0e56ae194590be568e9ffa7840a800b5b --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_0.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 0 +Seed: 0 +Candidates: 8 +Candidate sigma: 0.10 +Selection seed: 91000 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k8_sigma0.10/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 8, + "candidate_sigma": 0.1, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.23130434782608697, + "policy_rollout_progress": 0.4804371877111818, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0768100466255262, + "policy_expert_regret": 0.9845167915685021, + "action_mse_to_best": 0.4665292473299348, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.15463917525773196, + "policy_rollout_progress": 0.5405561211182899, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.220948570475136, + "policy_expert_regret": 1.1681908187792474, + "action_mse_to_best": 0.3532839670930941, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.14903846153846154, + "policy_rollout_progress": 0.48342814336781603, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.2928206481021614, + "policy_expert_regret": 1.279397780675656, + "action_mse_to_best": 0.4131943359791946, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.15584415584415584, + "policy_rollout_progress": 0.28447308410684785, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.5419044978432841, + "policy_expert_regret": 0.31112918189980765, + "action_mse_to_best": 0.6910990537567572, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6063829787234043, + "policy_rollout_progress": 0.6339573126207007, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.7400320969680523, + "policy_expert_regret": 0.6222622066419176, + "action_mse_to_best": 0.39067850464043463, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.18181818181818182, + "policy_rollout_progress": 0.4218986919431975, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.2175495678728276, + "policy_expert_regret": 1.0527102315064631, + "action_mse_to_best": 0.5868984237125124, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k8_sigma0.10/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_1.err b/workspace/outputs/hpc/logs/eval_h16_field_14858331_1.err new file mode 100644 index 0000000000000000000000000000000000000000..a1faaace8d7c27bfa8375975a930024702ad45bd --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_1.err @@ -0,0 +1,5 @@ +2026-06-28 01:11:24,960 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:27,075 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:29,179 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:31,333 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:33,462 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_1.out b/workspace/outputs/hpc/logs/eval_h16_field_14858331_1.out new file mode 100644 index 0000000000000000000000000000000000000000..affc3dd29163fc003dfc72575dc3505fceef9dea --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_1.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 1 +Seed: 1 +Candidates: 8 +Candidate sigma: 0.10 +Selection seed: 91001 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k8_sigma0.10/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 8, + "candidate_sigma": 0.1, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.28347826086956524, + "policy_rollout_progress": 0.5112803031795699, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.009220505800584, + "policy_expert_regret": 0.9070275376704724, + "action_mse_to_best": 0.46244008072125525, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.1592920353982301, + "policy_rollout_progress": 0.5189915941616076, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.2653671889442257, + "policy_expert_regret": 1.1728479576058093, + "action_mse_to_best": 0.3500265953691462, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.23369565217391305, + "policy_rollout_progress": 0.5528696862393585, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.1445096527610945, + "policy_expert_regret": 1.136972747793745, + "action_mse_to_best": 0.39200827625134715, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.06578947368421052, + "policy_rollout_progress": 0.21283553334835328, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.7053027871604028, + "policy_expert_regret": 0.4254634598956296, + "action_mse_to_best": 0.6667322731135708, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.7567567567567568, + "policy_rollout_progress": 0.7745174024556134, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.4687258407876298, + "policy_expert_regret": 0.3684367251557273, + "action_mse_to_best": 0.4085549002026652, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.14285714285714285, + "policy_rollout_progress": 0.3457710957461661, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3307026618129605, + "policy_expert_regret": 1.1711464825567308, + "action_mse_to_best": 0.639552435479485, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k8_sigma0.10/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_10.err b/workspace/outputs/hpc/logs/eval_h16_field_14858331_10.err new file mode 100644 index 0000000000000000000000000000000000000000..b193e0402581d3b4e53daf4f957134d0462fddc3 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_10.err @@ -0,0 +1,5 @@ +2026-06-28 01:11:17,253 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:19,357 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:21,526 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:23,707 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:25,882 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_10.out b/workspace/outputs/hpc/logs/eval_h16_field_14858331_10.out new file mode 100644 index 0000000000000000000000000000000000000000..ba43e36e741baecf206551de1aa848fd3a6494ba --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_10.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 10 +Seed: 1 +Candidates: 64 +Candidate sigma: 0.50 +Selection seed: 94001 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k64_sigma0.50/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 64, + "candidate_sigma": 0.5, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.27652173913043476, + "policy_rollout_progress": 0.5038111128841631, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0194874396445084, + "policy_expert_regret": 0.9157319952266794, + "action_mse_to_best": 0.485377110492681, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.1592920353982301, + "policy_rollout_progress": 0.5226759131239579, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.2616828699818754, + "policy_expert_regret": 1.169163638643459, + "action_mse_to_best": 0.3496806182470008, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.2391304347826087, + "policy_rollout_progress": 0.549890729456978, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.1420538269347795, + "policy_expert_regret": 1.13451692196743, + "action_mse_to_best": 0.4060886063329551, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.06578947368421052, + "policy_rollout_progress": 0.18716378344975296, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6995100968010775, + "policy_expert_regret": 0.43219950842555926, + "action_mse_to_best": 0.7909409432690345, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.7297297297297297, + "policy_rollout_progress": 0.7573154509604514, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.5129548193098189, + "policy_expert_regret": 0.3959935593443948, + "action_mse_to_best": 0.41940284178063675, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.12087912087912088, + "policy_rollout_progress": 0.34244675721441, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3560050223227387, + "policy_expert_regret": 1.196448843066509, + "action_mse_to_best": 0.6394769008793346, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k64_sigma0.50/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_11.err b/workspace/outputs/hpc/logs/eval_h16_field_14858331_11.err new file mode 100644 index 0000000000000000000000000000000000000000..8c01b6f25ef309317b5aa0c1e9a96c7a27b98865 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_11.err @@ -0,0 +1,6 @@ +2026-06-28 01:11:16,280 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:18,403 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:20,585 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:22,765 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:24,975 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:27,131 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_11.out b/workspace/outputs/hpc/logs/eval_h16_field_14858331_11.out new file mode 100644 index 0000000000000000000000000000000000000000..f35ab6f7689795b665d869a8e11611cb8db9db20 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_11.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 11 +Seed: 2 +Candidates: 64 +Candidate sigma: 0.50 +Selection seed: 94002 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k64_sigma0.50/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 64, + "candidate_sigma": 0.5, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.30782608695652175, + "policy_rollout_progress": 0.5096261693397944, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9865787970446371, + "policy_expert_regret": 0.8763900871325444, + "action_mse_to_best": 0.5057210558652878, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.5755758554053804, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.1213119823175173, + "policy_expert_regret": 1.0010371517079573, + "action_mse_to_best": 0.3736456293069447, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3181818181818182, + "policy_rollout_progress": 0.5850971883294566, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.037297835073085, + "policy_expert_regret": 1.0302143845443767, + "action_mse_to_best": 0.3808895478946994, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.12222222222222222, + "policy_rollout_progress": 0.23573277904134657, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.6953901627307965, + "policy_expert_regret": 0.42840350720410547, + "action_mse_to_best": 0.8449775661859248, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.6831683168316832, + "policy_rollout_progress": 0.7118152710470823, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.6050164121212346, + "policy_expert_regret": 0.4763863344888876, + "action_mse_to_best": 0.4644910559648334, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.1111111111111111, + "policy_rollout_progress": 0.3202358830306265, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.450667937596639, + "policy_expert_regret": 1.3018994440635046, + "action_mse_to_best": 0.628243540186021, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k64_sigma0.50/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_2.err b/workspace/outputs/hpc/logs/eval_h16_field_14858331_2.err new file mode 100644 index 0000000000000000000000000000000000000000..08ad3057f64a002fc94c58aea75a2535b898791d --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_2.err @@ -0,0 +1,6 @@ +2026-06-28 01:11:23,110 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:25,190 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:27,324 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:29,447 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:31,594 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:33,659 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_2.out b/workspace/outputs/hpc/logs/eval_h16_field_14858331_2.out new file mode 100644 index 0000000000000000000000000000000000000000..f316db10a138c6f905171ed9a8e69aab891066e8 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_2.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 2 +Seed: 2 +Candidates: 8 +Candidate sigma: 0.10 +Selection seed: 91002 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k8_sigma0.10/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 8, + "candidate_sigma": 0.1, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.31478260869565217, + "policy_rollout_progress": 0.5175978894505814, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9777731357670346, + "policy_expert_regret": 0.879010142524605, + "action_mse_to_best": 0.48353652086270893, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.21875, + "policy_rollout_progress": 0.5550954629046222, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.1730423748182754, + "policy_expert_regret": 1.0527732948151727, + "action_mse_to_best": 0.3778388290957082, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3181818181818182, + "policy_rollout_progress": 0.5851750043380749, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0372200190644667, + "policy_expert_regret": 1.0301365685357584, + "action_mse_to_best": 0.3805342139017702, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.13333333333333333, + "policy_rollout_progress": 0.2533828056106965, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.705745512040125, + "policy_expert_regret": 0.42930986115501985, + "action_mse_to_best": 0.7137743220043679, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7425742574257426, + "policy_rollout_progress": 0.7646557638550749, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.49276997871918254, + "policy_expert_regret": 0.43760172889964416, + "action_mse_to_best": 0.45052769396564746, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.1111111111111111, + "policy_rollout_progress": 0.31589207202196123, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.4550117486053042, + "policy_expert_regret": 1.3062432550721699, + "action_mse_to_best": 0.6296912386599515, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k8_sigma0.10/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_3.err b/workspace/outputs/hpc/logs/eval_h16_field_14858331_3.err new file mode 100644 index 0000000000000000000000000000000000000000..ebf9904f6891c6920c4d8becfa9df9f5597bf057 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_3.err @@ -0,0 +1,5 @@ +2026-06-28 01:11:27,171 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:29,282 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:31,550 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:33,747 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:35,934 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_3.out b/workspace/outputs/hpc/logs/eval_h16_field_14858331_3.out new file mode 100644 index 0000000000000000000000000000000000000000..28fb85b5638780c1216602ce6d39dbecbc299910 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_3.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 3 +Seed: 0 +Candidates: 16 +Candidate sigma: 0.20 +Selection seed: 92000 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k16_sigma0.20/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 16, + "candidate_sigma": 0.2, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.21913043478260869, + "policy_rollout_progress": 0.46793411430032195, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0925387193564244, + "policy_expert_regret": 1.002341898683985, + "action_mse_to_best": 0.468760979136695, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.14432989690721648, + "policy_rollout_progress": 0.5160976043067027, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.2557163656372385, + "policy_expert_regret": 1.20295861394135, + "action_mse_to_best": 0.35266343150863944, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.13942307692307693, + "policy_rollout_progress": 0.47517616109241945, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.3106880149929425, + "policy_expert_regret": 1.2972651475664372, + "action_mse_to_best": 0.4146603767831738, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.12987012987012986, + "policy_rollout_progress": 0.267815385828726, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.5177143988359793, + "policy_expert_regret": 0.2625723276604814, + "action_mse_to_best": 0.7021898142509646, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.574468085106383, + "policy_rollout_progress": 0.6057824138948258, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.8001218893109484, + "policy_expert_regret": 0.702704998882527, + "action_mse_to_best": 0.3936375088672689, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.1919191919191919, + "policy_rollout_progress": 0.4302896462907695, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1990576034242457, + "policy_expert_regret": 1.0460213774984533, + "action_mse_to_best": 0.5859526287425648, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k16_sigma0.20/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_4.err b/workspace/outputs/hpc/logs/eval_h16_field_14858331_4.err new file mode 100644 index 0000000000000000000000000000000000000000..630b24f44a9cb80fca81a7d2766e05a8d9922457 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_4.err @@ -0,0 +1,5 @@ +2026-06-28 01:11:25,769 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:27,917 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:30,069 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:32,256 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:34,494 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_4.out b/workspace/outputs/hpc/logs/eval_h16_field_14858331_4.out new file mode 100644 index 0000000000000000000000000000000000000000..99a99d112627c5048f951918ac114cd62c484d29 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_4.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 4 +Seed: 1 +Candidates: 16 +Candidate sigma: 0.20 +Selection seed: 92001 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k16_sigma0.20/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 16, + "candidate_sigma": 0.2, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2782608695652174, + "policy_rollout_progress": 0.5095858010730666, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0126679557092164, + "policy_expert_regret": 0.9168952214636881, + "action_mse_to_best": 0.4680624765392555, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.1504424778761062, + "policy_rollout_progress": 0.5208574027086781, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.2723509379192792, + "policy_expert_regret": 1.1798317065808626, + "action_mse_to_best": 0.35002948106802273, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.2391304347826087, + "policy_rollout_progress": 0.5538577482246024, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.1380868081671551, + "policy_expert_regret": 1.1305499031998054, + "action_mse_to_best": 0.39405514559020166, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.07894736842105263, + "policy_rollout_progress": 0.2255952119900796, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6531739636005736, + "policy_expert_regret": 0.39813052471972216, + "action_mse_to_best": 0.6909535866426794, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.7477477477477478, + "policy_rollout_progress": 0.7705201101195704, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.4817321421326818, + "policy_expert_regret": 0.39772362980219694, + "action_mse_to_best": 0.41637755876725857, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.10989010989010989, + "policy_rollout_progress": 0.3249687373965651, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3844720531295944, + "policy_expert_regret": 1.2249158738733648, + "action_mse_to_best": 0.6411655412393285, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k16_sigma0.20/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_5.err b/workspace/outputs/hpc/logs/eval_h16_field_14858331_5.err new file mode 100644 index 0000000000000000000000000000000000000000..d21e18f422878cece7b229e373253f8bc8420d2e --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_5.err @@ -0,0 +1,6 @@ +2026-06-28 01:12:25,936 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:12:28,076 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:12:30,321 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:12:32,583 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:12:34,892 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:12:37,058 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_5.out b/workspace/outputs/hpc/logs/eval_h16_field_14858331_5.out new file mode 100644 index 0000000000000000000000000000000000000000..ca3397e5b142dc410959099f75432edb6fac3fe4 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_5.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 5 +Seed: 2 +Candidates: 16 +Candidate sigma: 0.20 +Selection seed: 92002 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k16_sigma0.20/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 16, + "candidate_sigma": 0.2, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.30782608695652175, + "policy_rollout_progress": 0.5107902033320458, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9833702941545455, + "policy_expert_regret": 0.8684786501055956, + "action_mse_to_best": 0.48656073521012844, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.23958333333333334, + "policy_rollout_progress": 0.5729093362266818, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.1211368835841615, + "policy_expert_regret": 1.0008620529746015, + "action_mse_to_best": 0.37539764823547256, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3181818181818182, + "policy_rollout_progress": 0.5855083816581309, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0368866417444107, + "policy_expert_regret": 1.0298031912157022, + "action_mse_to_best": 0.3807297901372717, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.13333333333333333, + "policy_rollout_progress": 0.2576814704747651, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.6634106457784785, + "policy_expert_regret": 0.36530390631540083, + "action_mse_to_best": 0.7341989019678699, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.6831683168316832, + "policy_rollout_progress": 0.711485438270144, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.6053462448981729, + "policy_expert_regret": 0.47767280514287475, + "action_mse_to_best": 0.45260379271637097, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.1111111111111111, + "policy_rollout_progress": 0.3080338829093509, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.4628699377179146, + "policy_expert_regret": 1.31410144418478, + "action_mse_to_best": 0.6284318425175216, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k16_sigma0.20/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_6.err b/workspace/outputs/hpc/logs/eval_h16_field_14858331_6.err new file mode 100644 index 0000000000000000000000000000000000000000..b97b48fd2935a89d912bf7460a25c5a0ec7ef146 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_6.err @@ -0,0 +1,5 @@ +2026-06-28 01:11:38,277 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:40,423 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:42,870 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:45,184 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:47,513 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_6.out b/workspace/outputs/hpc/logs/eval_h16_field_14858331_6.out new file mode 100644 index 0000000000000000000000000000000000000000..873c60b2da332501ac445cac8692c6e2cf643748 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_6.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 6 +Seed: 0 +Candidates: 32 +Candidate sigma: 0.35 +Selection seed: 93000 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k32_sigma0.35/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.35, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.21913043478260869, + "policy_rollout_progress": 0.46738898912987986, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0930473189301233, + "policy_expert_regret": 1.0022457941769676, + "action_mse_to_best": 0.47375724539484665, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.15463917525773196, + "policy_rollout_progress": 0.523796899417012, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.2377077921764137, + "policy_expert_regret": 1.1849500404805253, + "action_mse_to_best": 0.3524797545726766, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.13942307692307693, + "policy_rollout_progress": 0.4790225809243006, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.3068415951610615, + "policy_expert_regret": 1.293418727734556, + "action_mse_to_best": 0.41800202110495704, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.14285714285714285, + "policy_rollout_progress": 0.27085492715014764, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.5014150884479699, + "policy_expert_regret": 0.2673212721985684, + "action_mse_to_best": 0.7232648653595092, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.5531914893617021, + "policy_rollout_progress": 0.5840501319220726, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.8431307670283825, + "policy_expert_regret": 0.7247732332412232, + "action_mse_to_best": 0.3973129745176498, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.1919191919191919, + "policy_rollout_progress": 0.42976899881555575, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1995782508994595, + "policy_expert_regret": 1.046542024973667, + "action_mse_to_best": 0.5882489422355035, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k32_sigma0.35/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_7.err b/workspace/outputs/hpc/logs/eval_h16_field_14858331_7.err new file mode 100644 index 0000000000000000000000000000000000000000..656a57ac61796b5dd75e1ce455c0c57dda2925bb --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_7.err @@ -0,0 +1,5 @@ +2026-06-28 01:11:38,831 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:41,001 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:43,173 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:45,548 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:47,925 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_7.out b/workspace/outputs/hpc/logs/eval_h16_field_14858331_7.out new file mode 100644 index 0000000000000000000000000000000000000000..bcd8e370578f39f4e01babb8bdb52072c22c4239 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_7.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 7 +Seed: 1 +Candidates: 32 +Candidate sigma: 0.35 +Selection seed: 93001 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k32_sigma0.35/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.35, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.27652173913043476, + "policy_rollout_progress": 0.5041067413548412, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0192021799978355, + "policy_expert_regret": 0.9190881412686861, + "action_mse_to_best": 0.4759621399697726, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.168141592920354, + "policy_rollout_progress": 0.5298002181591186, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.245709007424591, + "policy_expert_regret": 1.1531897760861742, + "action_mse_to_best": 0.349115602874024, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.2391304347826087, + "policy_rollout_progress": 0.5489965198490687, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.1429480365426887, + "policy_expert_regret": 1.1354111315753392, + "action_mse_to_best": 0.39974564475857693, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.06578947368421052, + "policy_rollout_progress": 0.19615636427739733, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6905959643129456, + "policy_expert_regret": 0.451350043429748, + "action_mse_to_best": 0.7238199750672242, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.7207207207207207, + "policy_rollout_progress": 0.7472768603144465, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.5320024189648328, + "policy_expert_regret": 0.4146888485631427, + "action_mse_to_best": 0.4286191267473204, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.12087912087912088, + "policy_rollout_progress": 0.3420107340092187, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3564410455279299, + "policy_expert_regret": 1.1968848662717002, + "action_mse_to_best": 0.6383288741562065, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k32_sigma0.35/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_8.err b/workspace/outputs/hpc/logs/eval_h16_field_14858331_8.err new file mode 100644 index 0000000000000000000000000000000000000000..fcda74d3ee235daf4c8ef37f2a685f59940c45cb --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_8.err @@ -0,0 +1,6 @@ +2026-06-28 01:11:29,692 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:31,772 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:33,915 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:36,056 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:38,206 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:40,305 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_8.out b/workspace/outputs/hpc/logs/eval_h16_field_14858331_8.out new file mode 100644 index 0000000000000000000000000000000000000000..6350fa88d227005812cdd0dc151104ade51e100e --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_8.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 8 +Seed: 2 +Candidates: 32 +Candidate sigma: 0.35 +Selection seed: 93002 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k32_sigma0.35/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.35, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.3060869565217391, + "policy_rollout_progress": 0.5099155128948069, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9878130913519338, + "policy_expert_regret": 0.875089878345313, + "action_mse_to_best": 0.49503877511490946, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.5755758554053804, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.1213119823175173, + "policy_expert_regret": 1.0010371517079573, + "action_mse_to_best": 0.3736456293069447, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3181818181818182, + "policy_rollout_progress": 0.5851537851974224, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.037241238205119, + "policy_expert_regret": 1.0301577876764108, + "action_mse_to_best": 0.3811475902494758, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.12222222222222222, + "policy_rollout_progress": 0.24872837766177125, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.6810178060084582, + "policy_expert_regret": 0.39821494068536495, + "action_mse_to_best": 0.7827393248677254, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.6732673267326733, + "policy_rollout_progress": 0.7018741432688024, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.6248585299985243, + "policy_expert_regret": 0.4958930028842227, + "action_mse_to_best": 0.4594265000507383, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.1111111111111111, + "policy_rollout_progress": 0.32012050963110394, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.4507833109961616, + "policy_expert_regret": 1.302014817463027, + "action_mse_to_best": 0.6273497407221131, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k32_sigma0.35/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_9.err b/workspace/outputs/hpc/logs/eval_h16_field_14858331_9.err new file mode 100644 index 0000000000000000000000000000000000000000..1f476e38d057e4e0e5220f1d2b015632e15c699c --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_9.err @@ -0,0 +1,5 @@ +2026-06-28 01:11:19,087 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:21,229 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:23,450 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:25,630 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:11:27,876 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858331_9.out b/workspace/outputs/hpc/logs/eval_h16_field_14858331_9.out new file mode 100644 index 0000000000000000000000000000000000000000..28e3085479b3e881a5bd337fd519abb2e3d31cc0 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858331_9.out @@ -0,0 +1,108 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 9 +Seed: 0 +Candidates: 64 +Candidate sigma: 0.50 +Selection seed: 94000 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k64_sigma0.50/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 64, + "candidate_sigma": 0.5, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.22782608695652173, + "policy_rollout_progress": 0.474431411483649, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0804935734923524, + "policy_expert_regret": 0.992589362190186, + "action_mse_to_best": 0.47588635947069396, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.15463917525773196, + "policy_rollout_progress": 0.5238552446832362, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.2376494469101895, + "policy_expert_regret": 1.184891695214301, + "action_mse_to_best": 0.35277089376732246, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.14423076923076922, + "policy_rollout_progress": 0.48126852959215355, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.2997879541855162, + "policy_expert_regret": 1.2863650867590108, + "action_mse_to_best": 0.41841672013442105, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.15584415584415584, + "policy_rollout_progress": 0.28172497145752967, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.501337112019794, + "policy_expert_regret": 0.2896711546761383, + "action_mse_to_best": 0.7349351081126309, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.5851063829787234, + "policy_rollout_progress": 0.613366575475703, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.7818994298577309, + "policy_expert_regret": 0.6628930673320242, + "action_mse_to_best": 0.3999176624607533, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.1919191919191919, + "policy_rollout_progress": 0.429605735522328, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.199741514192687, + "policy_expert_regret": 1.0467052882668948, + "action_mse_to_best": 0.5879084708714726, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_field_selected_noexpert_bc5_bestpt_field_sweep/k64_sigma0.50/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_0.err b/workspace/outputs/hpc/logs/eval_h16_field_14858453_0.err new file mode 100644 index 0000000000000000000000000000000000000000..e2369f84ef69166fa2d168d208cdf1c879e0ed6c --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_0.err @@ -0,0 +1,5 @@ +2026-06-28 01:39:26,698 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:28,802 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:30,960 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:33,083 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:35,212 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_0.out b/workspace/outputs/hpc/logs/eval_h16_field_14858453_0.out new file mode 100644 index 0000000000000000000000000000000000000000..bb7a2189726ff5472423605dc08471a447627fb0 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_0.out @@ -0,0 +1,109 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 0 +Seed: 0 +Candidates: 8 +Candidate sigma: 0.10 +Selection seed: 91000 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k8_sigma0.10/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 8, + "candidate_sigma": 0.1, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "retrieval_residual_scale": 0.0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.25565217391304346, + "policy_rollout_progress": 0.4857378810579362, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0326379125727259, + "policy_expert_regret": 0.932936291727035, + "action_mse_to_best": 0.47573888473212717, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.15463917525773196, + "policy_rollout_progress": 0.5159459276912138, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.232431392079776, + "policy_expert_regret": 1.1928169364781724, + "action_mse_to_best": 0.33964292481349606, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.20192307692307693, + "policy_rollout_progress": 0.5028055574153908, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.2205586186699713, + "policy_expert_regret": 1.2071357512434657, + "action_mse_to_best": 0.4450738527095662, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.09090909090909091, + "policy_rollout_progress": 0.24744823137177274, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.5514669314075213, + "policy_expert_regret": 0.25618259988531666, + "action_mse_to_best": 0.691721789744477, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.7021276595744681, + "policy_rollout_progress": 0.7188929412910279, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.5593517874466613, + "policy_expert_regret": 0.46030889213719267, + "action_mse_to_best": 0.40548132902922784, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.1717171717171717, + "policy_rollout_progress": 0.3842375796250623, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.2656842452107053, + "policy_expert_regret": 1.0773312383227878, + "action_mse_to_best": 0.5722354637515364, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k8_sigma0.10/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_1.err b/workspace/outputs/hpc/logs/eval_h16_field_14858453_1.err new file mode 100644 index 0000000000000000000000000000000000000000..8be11aafb3f9ee22aaddd220cb507b93d14703d0 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_1.err @@ -0,0 +1,5 @@ +2026-06-28 01:39:21,634 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:23,769 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:25,852 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:27,981 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:30,096 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_1.out b/workspace/outputs/hpc/logs/eval_h16_field_14858453_1.out new file mode 100644 index 0000000000000000000000000000000000000000..ee5d379f7f582f757de2a83242bdf64bb88c38ea --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_1.out @@ -0,0 +1,109 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 1 +Seed: 1 +Candidates: 8 +Candidate sigma: 0.10 +Selection seed: 91001 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k8_sigma0.10/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 8, + "candidate_sigma": 0.1, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "retrieval_residual_scale": 0.0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.23652173913043478, + "policy_rollout_progress": 0.4856837678530618, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0781312815723536, + "policy_expert_regret": 0.9788890768725264, + "action_mse_to_best": 0.45626937851998145, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.168141592920354, + "policy_rollout_progress": 0.5386279850406984, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.2368099750143238, + "policy_expert_regret": 1.1555887038728831, + "action_mse_to_best": 0.34486329094795265, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.125, + "policy_rollout_progress": 0.5070188056535857, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.299229470152489, + "policy_expert_regret": 1.2916925651851394, + "action_mse_to_best": 0.3821941536810735, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.06578947368421052, + "policy_rollout_progress": 0.21423209038881683, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6760359260216845, + "policy_expert_regret": 0.4193746543452634, + "action_mse_to_best": 0.650797848899138, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.6756756756756757, + "policy_rollout_progress": 0.6974465100614874, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.626877814262837, + "policy_expert_regret": 0.5248040548852972, + "action_mse_to_best": 0.3952832786819419, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3452037635085347, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.320280983061581, + "policy_expert_regret": 1.148159778543881, + "action_mse_to_best": 0.6563135829068475, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k8_sigma0.10/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_10.err b/workspace/outputs/hpc/logs/eval_h16_field_14858453_10.err new file mode 100644 index 0000000000000000000000000000000000000000..5ec318c14ecc0bdcbb9ed5e6076061da314d855f --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_10.err @@ -0,0 +1,5 @@ +2026-06-28 01:39:41,566 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:43,717 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:45,903 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:48,153 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:50,357 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_10.out b/workspace/outputs/hpc/logs/eval_h16_field_14858453_10.out new file mode 100644 index 0000000000000000000000000000000000000000..b50533475966502ecc753d89d508616941303664 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_10.out @@ -0,0 +1,109 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 10 +Seed: 1 +Candidates: 64 +Candidate sigma: 0.50 +Selection seed: 94001 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k64_sigma0.50/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 64, + "candidate_sigma": 0.5, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "retrieval_residual_scale": 0.0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.23304347826086957, + "policy_rollout_progress": 0.471685866382297, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.092776179748547, + "policy_expert_regret": 0.9933905459300656, + "action_mse_to_best": 0.4795833092899588, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.17699115044247787, + "policy_rollout_progress": 0.5334758034585851, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.2218606969160317, + "policy_expert_regret": 1.1292208964582038, + "action_mse_to_best": 0.33992090817145276, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.14673913043478262, + "policy_rollout_progress": 0.5106650677499482, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.2738440776213438, + "policy_expert_regret": 1.266307172653994, + "action_mse_to_best": 0.4006388466400297, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.039473684210526314, + "policy_rollout_progress": 0.16442669933588294, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.7474661598312914, + "policy_expert_regret": 0.45474573209465136, + "action_mse_to_best": 0.7648348194259023, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.6396396396396397, + "policy_rollout_progress": 0.6653296026560638, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.6950307577042967, + "policy_expert_regret": 0.6285274301294808, + "action_mse_to_best": 0.4144497260048583, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.14285714285714285, + "policy_rollout_progress": 0.3365518666885711, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3399218908705555, + "policy_expert_regret": 1.1678006863528556, + "action_mse_to_best": 0.6538508414689984, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k64_sigma0.50/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_11.err b/workspace/outputs/hpc/logs/eval_h16_field_14858453_11.err new file mode 100644 index 0000000000000000000000000000000000000000..9e7abc5cdd34165903cd1c8d2d33b4410ff44cbd --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_11.err @@ -0,0 +1,6 @@ +2026-06-28 01:39:39,742 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:41,993 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:44,392 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:46,613 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:48,862 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:51,094 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_11.out b/workspace/outputs/hpc/logs/eval_h16_field_14858453_11.out new file mode 100644 index 0000000000000000000000000000000000000000..8d136c00abc954f871def458cddf39fe5b8c65b6 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_11.out @@ -0,0 +1,109 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 11 +Seed: 2 +Candidates: 64 +Candidate sigma: 0.50 +Selection seed: 94002 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k64_sigma0.50/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 64, + "candidate_sigma": 0.5, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "retrieval_residual_scale": 0.0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2991304347826087, + "policy_rollout_progress": 0.5098291590566868, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.005339071502828, + "policy_expert_regret": 0.901685394173407, + "action_mse_to_best": 0.5215362757148788, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.22916666666666666, + "policy_rollout_progress": 0.584453439184775, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.133267731871456, + "policy_expert_regret": 1.0263188638103504, + "action_mse_to_best": 0.36730162321570486, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.23737373737373738, + "policy_rollout_progress": 0.5145221695143993, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.1903238530421272, + "policy_expert_regret": 1.183292665777521, + "action_mse_to_best": 0.4558377012121256, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.2989873856926958, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.6607864346148239, + "policy_expert_regret": 0.36839369783798853, + "action_mse_to_best": 0.8013595571767331, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7425742574257426, + "policy_rollout_progress": 0.7629886636934659, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.49443707888079164, + "policy_expert_regret": 0.40163400798740956, + "action_mse_to_best": 0.4298998924470184, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.3466458554069201, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.379813520775901, + "policy_expert_regret": 1.2436675031979878, + "action_mse_to_best": 0.6536032064921327, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k64_sigma0.50/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_2.err b/workspace/outputs/hpc/logs/eval_h16_field_14858453_2.err new file mode 100644 index 0000000000000000000000000000000000000000..0deb457cc48c1853ed354edb32f9cdb7b115c4a8 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_2.err @@ -0,0 +1,6 @@ +2026-06-28 01:39:25,272 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:27,374 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:29,554 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:31,706 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:33,900 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:36,032 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_2.out b/workspace/outputs/hpc/logs/eval_h16_field_14858453_2.out new file mode 100644 index 0000000000000000000000000000000000000000..ac85329f68c6d1a212b1908ef7225ffa36cf02f1 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_2.out @@ -0,0 +1,109 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 2 +Seed: 2 +Candidates: 8 +Candidate sigma: 0.10 +Selection seed: 91002 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k8_sigma0.10/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 8, + "candidate_sigma": 0.1, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "retrieval_residual_scale": 0.0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2991304347826087, + "policy_rollout_progress": 0.50525639095331, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0077807335560869, + "policy_expert_regret": 0.906298583383677, + "action_mse_to_best": 0.5051302295639787, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.19791666666666666, + "policy_rollout_progress": 0.5471540091869732, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.1885378474059205, + "policy_expert_regret": 1.068213837997367, + "action_mse_to_best": 0.37213402109046, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.23737373737373738, + "policy_rollout_progress": 0.5125031768429008, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.1923428457136256, + "policy_expert_regret": 1.17821413813855, + "action_mse_to_best": 0.45110814376837677, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.14444444444444443, + "policy_rollout_progress": 0.28567321347767977, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.6857609202705337, + "policy_expert_regret": 0.3943389943731341, + "action_mse_to_best": 0.7196254622915552, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7931940512786998, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43452872099852796, + "policy_expert_regret": 0.37985018205524673, + "action_mse_to_best": 0.4191755559479836, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.16666666666666666, + "policy_rollout_progress": 0.3410758056574398, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3742724594142701, + "policy_expert_regret": 1.2381264418363571, + "action_mse_to_best": 0.6478064527942075, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k8_sigma0.10/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_3.err b/workspace/outputs/hpc/logs/eval_h16_field_14858453_3.err new file mode 100644 index 0000000000000000000000000000000000000000..9527ef939ce610c25faff8f81c1ff73d3c6ba700 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_3.err @@ -0,0 +1,5 @@ +2026-06-28 01:39:30,681 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:32,769 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:34,905 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:37,039 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:39,184 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_3.out b/workspace/outputs/hpc/logs/eval_h16_field_14858453_3.out new file mode 100644 index 0000000000000000000000000000000000000000..6b28d31cb8d912d4aaa6c9bf58e90b856383b213 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_3.out @@ -0,0 +1,109 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 3 +Seed: 0 +Candidates: 16 +Candidate sigma: 0.20 +Selection seed: 92000 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k16_sigma0.20/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 16, + "candidate_sigma": 0.2, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "retrieval_residual_scale": 0.0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2573913043478261, + "policy_rollout_progress": 0.48223049327536266, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0397629410371882, + "policy_expert_regret": 0.947144415717415, + "action_mse_to_best": 0.4800749153530468, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.15463917525773196, + "policy_rollout_progress": 0.49705433154229034, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.2513229882286996, + "policy_expert_regret": 1.211708532627096, + "action_mse_to_best": 0.337142610893652, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.1971153846153846, + "policy_rollout_progress": 0.49768345343986414, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.2304884149531903, + "policy_expert_regret": 1.2170655475266847, + "action_mse_to_best": 0.44921097542660743, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.14285714285714285, + "policy_rollout_progress": 0.2957020977197529, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.47640881527747425, + "policy_expert_regret": 0.23235792289306592, + "action_mse_to_best": 0.7003706869028219, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.6943406551442248, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6158189672104856, + "policy_expert_regret": 0.5181357007711491, + "action_mse_to_best": 0.41541208017696724, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.18181818181818182, + "policy_rollout_progress": 0.37891941464910606, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.272457669028128, + "policy_expert_regret": 1.0841046621402104, + "action_mse_to_best": 0.5750210278225366, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k16_sigma0.20/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_4.err b/workspace/outputs/hpc/logs/eval_h16_field_14858453_4.err new file mode 100644 index 0000000000000000000000000000000000000000..2e73b24e92e696c5f5456a50c8a6e16bc9b34dea --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_4.err @@ -0,0 +1,5 @@ +2026-06-28 01:39:29,612 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:31,823 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:33,958 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:36,139 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:38,297 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_4.out b/workspace/outputs/hpc/logs/eval_h16_field_14858453_4.out new file mode 100644 index 0000000000000000000000000000000000000000..1d1262234391c178db6282071d4283601634a8b5 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_4.out @@ -0,0 +1,109 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 4 +Seed: 1 +Candidates: 16 +Candidate sigma: 0.20 +Selection seed: 92001 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k16_sigma0.20/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 16, + "candidate_sigma": 0.2, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "retrieval_residual_scale": 0.0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.24521739130434783, + "policy_rollout_progress": 0.48871822979561885, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0672546974170962, + "policy_expert_regret": 0.9689146510760918, + "action_mse_to_best": 0.46061476999407874, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.1592920353982301, + "policy_rollout_progress": 0.5279117630118817, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.2451238524069828, + "policy_expert_regret": 1.1525215854686974, + "action_mse_to_best": 0.34245977673547723, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.14673913043478262, + "policy_rollout_progress": 0.5141702485504104, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.2703388968208815, + "policy_expert_regret": 1.262801991853532, + "action_mse_to_best": 0.3850769985710149, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.07894736842105263, + "policy_rollout_progress": 0.22112822339036747, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6791693281725442, + "policy_expert_regret": 0.39387192858971265, + "action_mse_to_best": 0.6737498645854526, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.6936936936936937, + "policy_rollout_progress": 0.7154995378878739, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.5908067684184324, + "policy_expert_regret": 0.5245991288810163, + "action_mse_to_best": 0.4016580322572777, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.14285714285714285, + "policy_rollout_progress": 0.33544432412792036, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.341029433431206, + "policy_expert_regret": 1.1689082289135062, + "action_mse_to_best": 0.6539817466963451, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k16_sigma0.20/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_5.err b/workspace/outputs/hpc/logs/eval_h16_field_14858453_5.err new file mode 100644 index 0000000000000000000000000000000000000000..48a6244bdfbd529ce8e77db3c96f99a0e4afbce9 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_5.err @@ -0,0 +1,6 @@ +2026-06-28 01:40:45,016 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:40:47,222 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:40:49,486 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:40:51,713 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:40:54,048 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:40:56,329 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_5.out b/workspace/outputs/hpc/logs/eval_h16_field_14858453_5.out new file mode 100644 index 0000000000000000000000000000000000000000..ba1165821f03cca39a0b934e4a0ca7bb825604a9 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_5.out @@ -0,0 +1,109 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 5 +Seed: 2 +Candidates: 16 +Candidate sigma: 0.20 +Selection seed: 92002 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k16_sigma0.20/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 16, + "candidate_sigma": 0.2, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "retrieval_residual_scale": 0.0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2921739130434783, + "policy_rollout_progress": 0.5050093528547365, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0142129643277629, + "policy_expert_regret": 0.902604855099774, + "action_mse_to_best": 0.5101453654524749, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.23958333333333334, + "policy_rollout_progress": 0.5898309731855989, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.1174735312039654, + "policy_expert_regret": 1.01052466314286, + "action_mse_to_best": 0.37076629759879626, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.23232323232323232, + "policy_rollout_progress": 0.5102074748667126, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.199689052740319, + "policy_expert_regret": 1.1855603451652434, + "action_mse_to_best": 0.45198269856322293, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.13333333333333333, + "policy_rollout_progress": 0.2931647454284959, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.6702879616369803, + "policy_expert_regret": 0.36140653950472673, + "action_mse_to_best": 0.7424894493901067, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7227722772277227, + "policy_rollout_progress": 0.7497547814751616, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.5274729412971156, + "policy_expert_regret": 0.4179915769560502, + "action_mse_to_best": 0.42433159990180835, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.34028293804989923, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3861764381329218, + "policy_expert_regret": 1.2500304205550088, + "action_mse_to_best": 0.6507322690553136, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k16_sigma0.20/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_6.err b/workspace/outputs/hpc/logs/eval_h16_field_14858453_6.err new file mode 100644 index 0000000000000000000000000000000000000000..aa7bca7f8d1d88efc2ea8ef9a3ce4e108f9b356a --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_6.err @@ -0,0 +1,5 @@ +2026-06-28 01:39:40,643 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:42,783 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:45,057 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:47,231 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:49,424 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_6.out b/workspace/outputs/hpc/logs/eval_h16_field_14858453_6.out new file mode 100644 index 0000000000000000000000000000000000000000..20fe285dcc5c2a7f051bcb367302cdafa7a18dd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_6.out @@ -0,0 +1,109 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 6 +Seed: 0 +Candidates: 32 +Candidate sigma: 0.35 +Selection seed: 93000 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k32_sigma0.35/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.35, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "retrieval_residual_scale": 0.0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2573913043478261, + "policy_rollout_progress": 0.4835339437833349, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.0394956889275573, + "policy_expert_regret": 0.9403100243742001, + "action_mse_to_best": 0.4897524932399392, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.15463917525773196, + "policy_rollout_progress": 0.4966753779612866, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.2517019418097033, + "policy_expert_regret": 1.2120874862080997, + "action_mse_to_best": 0.33845987016354334, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.1971153846153846, + "policy_rollout_progress": 0.49801722210654237, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.230154646286512, + "policy_expert_regret": 1.2167317788600065, + "action_mse_to_best": 0.4614338276621241, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.15584415584415584, + "policy_rollout_progress": 0.30768172288095796, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4740380823805735, + "policy_expert_regret": 0.2067434024065733, + "action_mse_to_best": 0.7427825632855877, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.6936265431503033, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6165330792044071, + "policy_expert_regret": 0.4977186062234513, + "action_mse_to_best": 0.41402394760479316, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.1717171717171717, + "policy_rollout_progress": 0.3775205666368658, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.272401258198902, + "policy_expert_regret": 1.0840482513109844, + "action_mse_to_best": 0.5725892081367548, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k32_sigma0.35/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_7.err b/workspace/outputs/hpc/logs/eval_h16_field_14858453_7.err new file mode 100644 index 0000000000000000000000000000000000000000..93af4b4a1e9c46bcc404a3c2ddd9dbedd124ab74 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_7.err @@ -0,0 +1,5 @@ +2026-06-28 01:39:40,186 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:42,364 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:44,532 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:46,724 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:48,902 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_7.out b/workspace/outputs/hpc/logs/eval_h16_field_14858453_7.out new file mode 100644 index 0000000000000000000000000000000000000000..5d9a81395870e109fbdbf981c9f21bb68271a1b3 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_7.out @@ -0,0 +1,109 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 7 +Seed: 1 +Candidates: 32 +Candidate sigma: 0.35 +Selection seed: 93001 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k32_sigma0.35/seed_1/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.35, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "retrieval_residual_scale": 0.0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.23652173913043478, + "policy_rollout_progress": 0.47912006016496733, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0819831137699278, + "policy_expert_regret": 0.9800214707090155, + "action_mse_to_best": 0.4697858330708645, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.1592920353982301, + "policy_rollout_progress": 0.5237048317109589, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.2493307837079057, + "policy_expert_regret": 1.1566909832500778, + "action_mse_to_best": 0.3418705339040772, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.14673913043478262, + "policy_rollout_progress": 0.5149250668119234, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.2695840785593686, + "policy_expert_regret": 1.2620471735920191, + "action_mse_to_best": 0.3922307449595436, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.06578947368421052, + "policy_rollout_progress": 0.1979231177829206, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6885572214806942, + "policy_expert_regret": 0.4004452299865845, + "action_mse_to_best": 0.7176830689821049, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.6576576576576577, + "policy_rollout_progress": 0.6837909864681261, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.6585513558742162, + "policy_expert_regret": 0.5755485105621923, + "action_mse_to_best": 0.40793411527668033, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.14285714285714285, + "policy_rollout_progress": 0.3365518666885711, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3399218908705555, + "policy_expert_regret": 1.1678006863528556, + "action_mse_to_best": 0.6538508414689984, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k32_sigma0.35/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_8.err b/workspace/outputs/hpc/logs/eval_h16_field_14858453_8.err new file mode 100644 index 0000000000000000000000000000000000000000..4ac9b039cd5ec17e812dfa867211b6ca897144b2 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_8.err @@ -0,0 +1,6 @@ +2026-06-28 01:39:39,036 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:41,157 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:43,348 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:45,505 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:47,706 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:49,828 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_8.out b/workspace/outputs/hpc/logs/eval_h16_field_14858453_8.out new file mode 100644 index 0000000000000000000000000000000000000000..8c6b7828b3b003ea0351c6d8c1405dd884525150 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_8.out @@ -0,0 +1,109 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 8 +Seed: 2 +Candidates: 32 +Candidate sigma: 0.35 +Selection seed: 93002 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k32_sigma0.35/seed_2/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 32, + "candidate_sigma": 0.35, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "retrieval_residual_scale": 0.0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.29739130434782607, + "policy_rollout_progress": 0.5094608604223669, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 1.0072968623856002, + "policy_expert_regret": 0.898396006865103, + "action_mse_to_best": 0.5158064904254254, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.22916666666666666, + "policy_rollout_progress": 0.584284116824468, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.1334370542317629, + "policy_expert_regret": 1.0264881861706574, + "action_mse_to_best": 0.36748976713958353, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.23232323232323232, + "policy_rollout_progress": 0.5118568986419099, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.1980396289651216, + "policy_expert_regret": 1.183910921390046, + "action_mse_to_best": 0.4534088330098776, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.14444444444444443, + "policy_rollout_progress": 0.28765311417842493, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.6822757954942062, + "policy_expert_regret": 0.3903211276279762, + "action_mse_to_best": 0.777206671054268, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7524752475247525, + "policy_rollout_progress": 0.7752889064278933, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.4722358460473542, + "policy_expert_regret": 0.36308381831882025, + "action_mse_to_best": 0.4234293438125365, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.34786770857042737, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3785916676123937, + "policy_expert_regret": 1.2424456500344807, + "action_mse_to_best": 0.6535533477034834, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k32_sigma0.35/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_9.err b/workspace/outputs/hpc/logs/eval_h16_field_14858453_9.err new file mode 100644 index 0000000000000000000000000000000000000000..53f0d35f57b0caf1cd6d23a9d301b7a243673803 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_9.err @@ -0,0 +1,5 @@ +2026-06-28 01:39:56,662 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:39:58,788 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:40:01,014 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:40:03,218 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 01:40:05,405 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_field_14858453_9.out b/workspace/outputs/hpc/logs/eval_h16_field_14858453_9.out new file mode 100644 index 0000000000000000000000000000000000000000..a05f1dd8ae85fc289bdc592285843b2512888d32 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_field_14858453_9.out @@ -0,0 +1,109 @@ +================================================== +Online Rollout Evaluation - h=16 Field-Guided +Array task: 9 +Seed: 0 +Candidates: 64 +Candidate sigma: 0.50 +Selection seed: 94000 +Selection mode: field +Field optim steps: 0 +Field optim step size: 0.05 +Field optim trust radius: 0.5 +Field optim L2 penalty: 0.0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k64_sigma0.50/seed_0/online_rollout.json +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/field_selected_noexpert_bc5_allmap/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "selection_mode": "field", + "num_candidates": 64, + "candidate_sigma": 0.5, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 0, + "retrieval_residual_scale": 0.0, + "lattice_exclude_types": [], + "policy_rollout_success_rate": 0.2573913043478261, + "policy_rollout_progress": 0.4811000149123696, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 1.041813105670978, + "policy_expert_regret": 0.9449788871300607, + "action_mse_to_best": 0.49755877656619185, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.15463917525773196, + "policy_rollout_progress": 0.496539736224204, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.2518375835467859, + "policy_expert_regret": 1.2122231279451823, + "action_mse_to_best": 0.3388602849499313, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.1971153846153846, + "policy_rollout_progress": 0.49787689842633015, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.2302949699667243, + "policy_expert_regret": 1.2168721025402187, + "action_mse_to_best": 0.47225195370041406, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.12987012987012986, + "policy_rollout_progress": 0.26673607360692575, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.5400876995333314, + "policy_expert_regret": 0.26621573498811235, + "action_mse_to_best": 0.7871998975464662, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6914893617021277, + "policy_rollout_progress": 0.7113720115194929, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.5775110150905366, + "policy_expert_regret": 0.4784681630578447, + "action_mse_to_best": 0.3990023007735293, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.1717171717171717, + "policy_rollout_progress": 0.37880921755174196, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.2711126072840258, + "policy_expert_regret": 1.0827596003961082, + "action_mse_to_best": 0.5745235770903151, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "field_selected": 575 + } +} + +Field-guided rollout complete +Results: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep/k64_sigma0.50/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_0.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_0.err new file mode 100644 index 0000000000000000000000000000000000000000..a58e5bc3023c865d6e80f01899d4b9ae41e9b717 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_0.err @@ -0,0 +1,11 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 56, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 40, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 77, in evaluate_maniskill_policy_rollout + model_config = DoVLAConfig(**checkpoint["model_config"]) + ~~~~~~~~~~^^^^^^^^^^^^^^^^ +KeyError: 'model_config' diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_0.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_0.out new file mode 100644 index 0000000000000000000000000000000000000000..0b70e5aa1af90e7271de2d86185c019a6eb73886 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_0.out @@ -0,0 +1,7 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 0 +Checkpoint: /scratch/knguy52/dovla/experiments/h16_policy_runs/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_1.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_1.err new file mode 100644 index 0000000000000000000000000000000000000000..a58e5bc3023c865d6e80f01899d4b9ae41e9b717 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_1.err @@ -0,0 +1,11 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 56, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 40, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 77, in evaluate_maniskill_policy_rollout + model_config = DoVLAConfig(**checkpoint["model_config"]) + ~~~~~~~~~~^^^^^^^^^^^^^^^^ +KeyError: 'model_config' diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_1.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_1.out new file mode 100644 index 0000000000000000000000000000000000000000..fa9a1c7c4bb98f7135b7d5ba6d64d4b64de60dc1 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_1.out @@ -0,0 +1,7 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 1 +Checkpoint: /scratch/knguy52/dovla/experiments/h16_policy_runs/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_2.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_2.err new file mode 100644 index 0000000000000000000000000000000000000000..a58e5bc3023c865d6e80f01899d4b9ae41e9b717 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_2.err @@ -0,0 +1,11 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 56, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 40, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 77, in evaluate_maniskill_policy_rollout + model_config = DoVLAConfig(**checkpoint["model_config"]) + ~~~~~~~~~~^^^^^^^^^^^^^^^^ +KeyError: 'model_config' diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_2.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_2.out new file mode 100644 index 0000000000000000000000000000000000000000..8e9fb8beca624218fcb943c2844a29714ae5fd7d --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14758888_2.out @@ -0,0 +1,7 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 2 +Checkpoint: /scratch/knguy52/dovla/experiments/h16_policy_runs/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_0.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_0.err new file mode 100644 index 0000000000000000000000000000000000000000..5d27bd51c35233149b3874fed2fe9bd593e5320c --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_0.err @@ -0,0 +1,16 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 56, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 40, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 98, in evaluate_maniskill_policy_rollout + cases = _prepare_rollout_cases( + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 178, in _prepare_rollout_cases + archive = archives.setdefault(source, _load_state_archive(source)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 332, in _load_state_archive + raise FileNotFoundError(f"ManiSkill state archive not found for {source_dataset}") +FileNotFoundError: ManiSkill state archive not found for /scratch/knguy52/dovla/experiments/h16_merged_dataset diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_0.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_0.out new file mode 100644 index 0000000000000000000000000000000000000000..bc00b3ed7557ff6cda07c4a56bc0552ece32845b --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_0.out @@ -0,0 +1,7 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_1.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_1.err new file mode 100644 index 0000000000000000000000000000000000000000..5d27bd51c35233149b3874fed2fe9bd593e5320c --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_1.err @@ -0,0 +1,16 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 56, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 40, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 98, in evaluate_maniskill_policy_rollout + cases = _prepare_rollout_cases( + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 178, in _prepare_rollout_cases + archive = archives.setdefault(source, _load_state_archive(source)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 332, in _load_state_archive + raise FileNotFoundError(f"ManiSkill state archive not found for {source_dataset}") +FileNotFoundError: ManiSkill state archive not found for /scratch/knguy52/dovla/experiments/h16_merged_dataset diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_1.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_1.out new file mode 100644 index 0000000000000000000000000000000000000000..c64bf509125957ba9d8e0f4f3bce1ed5493f92af --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_1.out @@ -0,0 +1,7 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 1 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_2.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_2.err new file mode 100644 index 0000000000000000000000000000000000000000..5d27bd51c35233149b3874fed2fe9bd593e5320c --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_2.err @@ -0,0 +1,16 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 56, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 40, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 98, in evaluate_maniskill_policy_rollout + cases = _prepare_rollout_cases( + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 178, in _prepare_rollout_cases + archive = archives.setdefault(source, _load_state_archive(source)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 332, in _load_state_archive + raise FileNotFoundError(f"ManiSkill state archive not found for {source_dataset}") +FileNotFoundError: ManiSkill state archive not found for /scratch/knguy52/dovla/experiments/h16_merged_dataset diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_2.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_2.out new file mode 100644 index 0000000000000000000000000000000000000000..89736bfa93bbbb95f8650f8a6dc9752cb668da7f --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14775756_2.out @@ -0,0 +1,7 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 2 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_0.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_0.err new file mode 100644 index 0000000000000000000000000000000000000000..fe81f0b0b61fb3ff8651d6c647b7e0ed5dda6892 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_0.err @@ -0,0 +1,19 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 56, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 40, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 84, in evaluate_maniskill_policy_rollout + dataset = CILDataset(dataset_dir) + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/datasets.py", line 65, in __init__ + self.reader = ShardReader(self.dataset_dir) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/sharding.py", line 242, in __init__ + self.index = ShardIndex.from_path(dataset_path) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/index.py", line 35, in from_path + raise FileNotFoundError(f"No metadata.json or manifest.json in {target}") +FileNotFoundError: No metadata.json or manifest.json in /scratch/knguy52/dovla/experiments/six_task_h16_collection diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_0.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_0.out new file mode 100644 index 0000000000000000000000000000000000000000..fa69bdd3b4795a4f733e884a4e1f305ea74c2594 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_0.out @@ -0,0 +1,7 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_1.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_1.err new file mode 100644 index 0000000000000000000000000000000000000000..fe81f0b0b61fb3ff8651d6c647b7e0ed5dda6892 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_1.err @@ -0,0 +1,19 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 56, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 40, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 84, in evaluate_maniskill_policy_rollout + dataset = CILDataset(dataset_dir) + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/datasets.py", line 65, in __init__ + self.reader = ShardReader(self.dataset_dir) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/sharding.py", line 242, in __init__ + self.index = ShardIndex.from_path(dataset_path) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/index.py", line 35, in from_path + raise FileNotFoundError(f"No metadata.json or manifest.json in {target}") +FileNotFoundError: No metadata.json or manifest.json in /scratch/knguy52/dovla/experiments/six_task_h16_collection diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_1.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_1.out new file mode 100644 index 0000000000000000000000000000000000000000..2d7b3625e0d93315bcfb70bb340ad23235d8fa2d --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_1.out @@ -0,0 +1,7 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 1 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_2.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_2.err new file mode 100644 index 0000000000000000000000000000000000000000..fe81f0b0b61fb3ff8651d6c647b7e0ed5dda6892 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_2.err @@ -0,0 +1,19 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 56, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 40, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 84, in evaluate_maniskill_policy_rollout + dataset = CILDataset(dataset_dir) + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/datasets.py", line 65, in __init__ + self.reader = ShardReader(self.dataset_dir) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/sharding.py", line 242, in __init__ + self.index = ShardIndex.from_path(dataset_path) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/index.py", line 35, in from_path + raise FileNotFoundError(f"No metadata.json or manifest.json in {target}") +FileNotFoundError: No metadata.json or manifest.json in /scratch/knguy52/dovla/experiments/six_task_h16_collection diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_2.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_2.out new file mode 100644 index 0000000000000000000000000000000000000000..48ec78b704bd15c68483b4242768eb7b93e02320 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14778350_2.out @@ -0,0 +1,7 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 2 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_0.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_0.err new file mode 100644 index 0000000000000000000000000000000000000000..8d323d9e8854bcfa7bcbae5138d650a108a6207c --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_0.err @@ -0,0 +1,16 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 56, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 40, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 84, in evaluate_maniskill_policy_rollout + dataset = CILDataset(dataset_dir) + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/datasets.py", line 30, in __init__ + sources = _collection_sources(payload, base_dir=self.dataset_dir) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/datasets.py", line 168, in _collection_sources + raise ValueError("CIL collection must be a version-1 object") +ValueError: CIL collection must be a version-1 object diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_0.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_0.out new file mode 100644 index 0000000000000000000000000000000000000000..fa69bdd3b4795a4f733e884a4e1f305ea74c2594 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_0.out @@ -0,0 +1,7 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_1.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_1.err new file mode 100644 index 0000000000000000000000000000000000000000..8d323d9e8854bcfa7bcbae5138d650a108a6207c --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_1.err @@ -0,0 +1,16 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 56, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 40, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 84, in evaluate_maniskill_policy_rollout + dataset = CILDataset(dataset_dir) + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/datasets.py", line 30, in __init__ + sources = _collection_sources(payload, base_dir=self.dataset_dir) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/datasets.py", line 168, in _collection_sources + raise ValueError("CIL collection must be a version-1 object") +ValueError: CIL collection must be a version-1 object diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_1.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_1.out new file mode 100644 index 0000000000000000000000000000000000000000..2d7b3625e0d93315bcfb70bb340ad23235d8fa2d --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_1.out @@ -0,0 +1,7 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 1 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_2.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_2.err new file mode 100644 index 0000000000000000000000000000000000000000..8d323d9e8854bcfa7bcbae5138d650a108a6207c --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_2.err @@ -0,0 +1,16 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 56, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 40, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 84, in evaluate_maniskill_policy_rollout + dataset = CILDataset(dataset_dir) + ^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/datasets.py", line 30, in __init__ + sources = _collection_sources(payload, base_dir=self.dataset_dir) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/data/datasets.py", line 168, in _collection_sources + raise ValueError("CIL collection must be a version-1 object") +ValueError: CIL collection must be a version-1 object diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_2.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_2.out new file mode 100644 index 0000000000000000000000000000000000000000..48ec78b704bd15c68483b4242768eb7b93e02320 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14779587_2.out @@ -0,0 +1,7 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 2 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_0.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_0.err new file mode 100644 index 0000000000000000000000000000000000000000..8761d5ac94c0d39e753702c984438e951729d69f --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_0.err @@ -0,0 +1,5 @@ +2026-06-26 15:46:50,868 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:46:52,903 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:46:54,999 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:46:57,059 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:46:59,174 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_0.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_0.out new file mode 100644 index 0000000000000000000000000000000000000000..74a81d4836766b898bafa18e4ee91bed2834a8de --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_0.out @@ -0,0 +1,90 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "policy_rollout_success_rate": 0.28347826086956524, + "policy_rollout_progress": 0.5311609336215517, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.9742938752537188, + "policy_expert_regret": 0.8891291621456976, + "action_mse_to_best": 0.38102538562825194, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5880456141282603, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.0984760355396368, + "policy_expert_regret": 1.0588615799380332, + "action_mse_to_best": 0.33478166852338415, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.23076923076923078, + "policy_rollout_progress": 0.5712340405354133, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 1.1300323937947934, + "policy_expert_regret": 1.1166095263682878, + "action_mse_to_best": 0.3177650389261544, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.15584415584415584, + "policy_rollout_progress": 0.27947610490894936, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.5244731674720715, + "policy_expert_regret": 0.33970899550945727, + "action_mse_to_best": 0.5231320316867007, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6871171412949867, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.653308390619907, + "policy_expert_regret": 0.5538164873389487, + "action_mse_to_best": 0.3917449711465297, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.20202020202020202, + "policy_rollout_progress": 0.4389066714229006, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1800468919253109, + "policy_expert_regret": 0.990591626576703, + "action_mse_to_best": 0.4385399299513812, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "policy_continuous": 575 + } +} + +✅ Rollout evaluation complete for seed 0 +Results: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_0/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_1.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_1.err new file mode 100644 index 0000000000000000000000000000000000000000..b78c91459d0d2ff298c70706b75d241b783f7142 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_1.err @@ -0,0 +1,5 @@ +2026-06-26 15:38:33,711 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:38:35,720 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:38:37,750 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:38:39,808 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:38:41,845 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_1.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_1.out new file mode 100644 index 0000000000000000000000000000000000000000..f1f886bcec8c0b2f236bef10a147d9498ead8224 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_1.out @@ -0,0 +1,90 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 1 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "policy_rollout_success_rate": 0.3095652173913043, + "policy_rollout_progress": 0.5577803822104698, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9327322269344459, + "policy_expert_regret": 0.8434675842345408, + "action_mse_to_best": 0.3963353596538629, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.25663716814159293, + "policy_rollout_progress": 0.6378891551125366, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.037760190863525, + "policy_expert_regret": 0.956347759186694, + "action_mse_to_best": 0.3430679193409407, + "restore_max_error": 4.76837158203125e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.18478260869565216, + "policy_rollout_progress": 0.5542619903571904, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.1844017523664818, + "policy_expert_regret": 1.1768648473991323, + "action_mse_to_best": 0.3466665408695522, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.3054526904965506, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.49819570134001734, + "policy_expert_regret": 0.2682460658374782, + "action_mse_to_best": 0.4801800000101426, + "restore_max_error": 4.76837158203125e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8362595547695417, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3439206254106384, + "policy_expert_regret": 0.2754373053709666, + "action_mse_to_best": 0.3866247556566655, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.12087912087912088, + "policy_rollout_progress": 0.33647059297168647, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3745730083722334, + "policy_expert_regret": 1.2024526409395448, + "action_mse_to_best": 0.5047306100745778, + "restore_max_error": 3.948807716369629e-07 + } + }, + "selected_candidate_type_counts": { + "policy_continuous": 575 + } +} + +✅ Rollout evaluation complete for seed 1 +Results: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_1/online_rollout.json diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_2.err b/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_2.err new file mode 100644 index 0000000000000000000000000000000000000000..5b84c70f30d4989fe51b6090a8a9bc48e0ab6de0 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_2.err @@ -0,0 +1,6 @@ +2026-06-26 15:38:32,310 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:38:34,312 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:38:36,350 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:38:38,381 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:38:40,471 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-26 15:38:42,503 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_2.out b/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_2.out new file mode 100644 index 0000000000000000000000000000000000000000..64562102eb3362e66b9cbeadf477085ee35fa750 --- /dev/null +++ b/workspace/outputs/hpc/logs/eval_h16_rollout_14789418_2.out @@ -0,0 +1,90 @@ +================================================== +Online Rollout Evaluation - h=16 Policy +Seed: 2 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Expected: 55-70%+ policy success (vs 29.67% baseline) +================================================== +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 16, + "policy_rollout_success_rate": 0.2991304347826087, + "policy_rollout_progress": 0.5442567974544964, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9762078188338131, + "policy_expert_regret": 0.9028282646683669, + "action_mse_to_best": 0.4186884651252109, + "restore_max_error": 4.76837158203125e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.21875, + "policy_rollout_progress": 0.6268517963277797, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 1.0746680611434083, + "policy_expert_regret": 0.9947138337107996, + "action_mse_to_best": 0.36618827634568635, + "restore_max_error": 3.5762786865234375e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.20202020202020202, + "policy_rollout_progress": 0.5398947600689199, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.213048679848211, + "policy_expert_regret": 1.191773727272797, + "action_mse_to_best": 0.35999619089198687, + "restore_max_error": 4.76837158203125e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.26666666666666666, + "policy_rollout_progress": 0.38893188475459384, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.4807623501729015, + "policy_expert_regret": 0.2880375474967271, + "action_mse_to_best": 0.5323986266636186, + "restore_max_error": 4.0978193283081055e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7875069809137004, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.4402157913635273, + "policy_expert_regret": 0.42163643816320023, + "action_mse_to_best": 0.39085157466406867, + "restore_max_error": 4.76837158203125e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.1, + "policy_rollout_progress": 0.3480960988336139, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.4470812989605797, + "policy_expert_regret": 1.3239318513207965, + "action_mse_to_best": 0.5213406853377819, + "restore_max_error": 4.76837158203125e-07 + } + }, + "selected_candidate_type_counts": { + "policy_continuous": 575 + } +} + +✅ Rollout evaluation complete for seed 2 +Results: /scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs/seed_2/online_rollout.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_14858327.err b/workspace/outputs/hpc/logs/export_field_targets_14858327.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/export_field_targets_14858327.out b/workspace/outputs/hpc/logs/export_field_targets_14858327.out new file mode 100644 index 0000000000000000000000000000000000000000..0d7a9f52a7fde1b6934c928c1c87023ce93565c4 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_14858327.out @@ -0,0 +1,18 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "train", + "excluded_candidate_types": [ + "expert" + ], + "num_groups": 2298, + "num_targets": 2298, + "selected_candidate_type_counts": { + "near_miss": 1820, + "wrong_gripper": 103, + "no_op": 227, + "wrong_direction": 33, + "random_negative": 115 + } +} +Wrote /scratch/knguy52/dovla/experiments/field_selected_targets/near_miss_policy_bc5_seed0_bestpt_noexpert_train.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_14858449.err b/workspace/outputs/hpc/logs/export_field_targets_14858449.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/export_field_targets_14858449.out b/workspace/outputs/hpc/logs/export_field_targets_14858449.out new file mode 100644 index 0000000000000000000000000000000000000000..3cbdd6d3c4fede988cd77aa3acb8ef680706ae85 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_14858449.out @@ -0,0 +1,18 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "all", + "excluded_candidate_types": [ + "expert" + ], + "num_groups": 2873, + "num_targets": 2873, + "selected_candidate_type_counts": { + "near_miss": 2273, + "wrong_gripper": 135, + "no_op": 275, + "wrong_direction": 44, + "random_negative": 146 + } +} +Wrote /scratch/knguy52/dovla/experiments/field_selected_targets/near_miss_policy_bc5_seed0_bestpt_noexpert_all.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036808_0.err b/workspace/outputs/hpc/logs/export_field_targets_15036808_0.err new file mode 100644 index 0000000000000000000000000000000000000000..9d96a45b411dc117c68fec93e5b1c1a2baf232d1 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036808_0.err @@ -0,0 +1 @@ +[2026-07-02T05:32:13.656] error: *** JOB 15036836 ON rg12702 CANCELLED AT 2026-07-02T05:32:13 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036808_0.out b/workspace/outputs/hpc/logs/export_field_targets_15036808_0.out new file mode 100644 index 0000000000000000000000000000000000000000..1fb4e3fe719c93d2d8ec92df323e93a6fa53c502 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036808_0.out @@ -0,0 +1,13 @@ +================================================== +Export transported residual field targets +Seed: 0 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036808_1.err b/workspace/outputs/hpc/logs/export_field_targets_15036808_1.err new file mode 100644 index 0000000000000000000000000000000000000000..57241bb5e41adea91e736123195722986fce4b84 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036808_1.err @@ -0,0 +1 @@ +[2026-07-02T05:32:13.657] error: *** JOB 15036837 ON rg12702 CANCELLED AT 2026-07-02T05:32:13 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036808_1.out b/workspace/outputs/hpc/logs/export_field_targets_15036808_1.out new file mode 100644 index 0000000000000000000000000000000000000000..3dda769078990f3c6c1f0243022ddf8b5be2a5e3 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036808_1.out @@ -0,0 +1,13 @@ +================================================== +Export transported residual field targets +Seed: 1 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036808_2.err b/workspace/outputs/hpc/logs/export_field_targets_15036808_2.err new file mode 100644 index 0000000000000000000000000000000000000000..e1f27f150b4d9b96a3cd74ace95dd7a1f82ef36c --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036808_2.err @@ -0,0 +1 @@ +[2026-07-02T05:32:13.656] error: *** JOB 15036808 ON rg12702 CANCELLED AT 2026-07-02T05:32:13 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036808_2.out b/workspace/outputs/hpc/logs/export_field_targets_15036808_2.out new file mode 100644 index 0000000000000000000000000000000000000000..b6e1d0378d2c09227c0a82038257990b4e8cb89c --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036808_2.out @@ -0,0 +1,13 @@ +================================================== +Export transported residual field targets +Seed: 2 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_0.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_0.err new file mode 100644 index 0000000000000000000000000000000000000000..b2fae4f65fbe05c40d7651fa2abb2c85f9b7f784 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_0.err @@ -0,0 +1,20 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 1056, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 389, in main + task_targets, task_counts = _export_task_targets( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 771, in _export_task_targets + env = gym.make(task_id, **env_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 682, in make + env_spec = _find_spec(id) + ^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 527, in _find_spec + _check_version_exists(ns, name, version) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 391, in _check_version_exists + _check_name_exists(ns, name) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 368, in _check_name_exists + raise error.NameNotFound( +gymnasium.error.NameNotFound: Environment `LiftPegUpright` doesn't exist. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_0.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_0.out new file mode 100644 index 0000000000000000000000000000000000000000..d9fedb0a8b37d8451fc19781f37ae65886da07df --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_0.out @@ -0,0 +1,15 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_0_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_1.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_1.err new file mode 100644 index 0000000000000000000000000000000000000000..b2fae4f65fbe05c40d7651fa2abb2c85f9b7f784 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_1.err @@ -0,0 +1,20 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 1056, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 389, in main + task_targets, task_counts = _export_task_targets( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 771, in _export_task_targets + env = gym.make(task_id, **env_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 682, in make + env_spec = _find_spec(id) + ^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 527, in _find_spec + _check_version_exists(ns, name, version) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 391, in _check_version_exists + _check_name_exists(ns, name) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 368, in _check_name_exists + raise error.NameNotFound( +gymnasium.error.NameNotFound: Environment `LiftPegUpright` doesn't exist. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_1.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_1.out new file mode 100644 index 0000000000000000000000000000000000000000..e719e169019f0c11d14b6bee98aac38439997d34 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_1.out @@ -0,0 +1,15 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_1_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_10.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_10.err new file mode 100644 index 0000000000000000000000000000000000000000..13bcd460c8a3d231fd5beca9e5c48eaf1e60aad9 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_10.err @@ -0,0 +1 @@ +[2026-07-02T05:36:47.073] error: *** JOB 15036977 ON rg13102 CANCELLED AT 2026-07-02T05:36:47 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_10.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_10.out new file mode 100644 index 0000000000000000000000000000000000000000..4af193e960ad423598d7c7f2ffd5e694bbdc0128 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_10.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_2_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_11.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_11.err new file mode 100644 index 0000000000000000000000000000000000000000..41f14b25881abf3c894a8f05659dc73c973be560 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_11.err @@ -0,0 +1 @@ +[2026-07-02T05:36:47.073] error: *** JOB 15036978 ON rg13102 CANCELLED AT 2026-07-02T05:36:47 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_11.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_11.out new file mode 100644 index 0000000000000000000000000000000000000000..a3d3b075f2f1b66aa560c3bed101397fcaedad4c --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_11.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_3_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_12.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_12.err new file mode 100644 index 0000000000000000000000000000000000000000..f4ebbb16c4d1b24c1106b5b78efdfb5668b76b13 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_12.err @@ -0,0 +1 @@ +[2026-07-02T05:36:47.071] error: *** JOB 15036979 ON rg12802 CANCELLED AT 2026-07-02T05:36:47 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_12.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_12.out new file mode 100644 index 0000000000000000000000000000000000000000..e81c678857869de0497e64cbbfb8a59bcdec27c0 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_12.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_4_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_13.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_13.err new file mode 100644 index 0000000000000000000000000000000000000000..f01f8fb76e4ac845667983dcfab0c3b0bb768dca --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_13.err @@ -0,0 +1 @@ +[2026-07-02T05:36:47.070] error: *** JOB 15036980 ON rg12901 CANCELLED AT 2026-07-02T05:36:47 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_13.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_13.out new file mode 100644 index 0000000000000000000000000000000000000000..0d9c65e78121bae76518cf06f1f4cd92220dbf60 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_13.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_5_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_14.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_14.err new file mode 100644 index 0000000000000000000000000000000000000000..f6334b396387f320fd8ac4f9c084cbd16a92b5f1 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_14.err @@ -0,0 +1 @@ +[2026-07-02T05:36:47.070] error: *** JOB 15036981 ON rg13001 CANCELLED AT 2026-07-02T05:36:47 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_14.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_14.out new file mode 100644 index 0000000000000000000000000000000000000000..40ca4591c7c2b28329f1741fc30e5fc1c2b030ac --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_14.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_6_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_15.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_15.err new file mode 100644 index 0000000000000000000000000000000000000000..56f97664808229f349e79ccc76aa9dc5c9b3d6d0 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_15.err @@ -0,0 +1 @@ +[2026-07-02T05:36:47.076] error: *** JOB 15036982 ON rg12603 CANCELLED AT 2026-07-02T05:36:47 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_15.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_15.out new file mode 100644 index 0000000000000000000000000000000000000000..44764cd162f308421e3b4d1c90b2406c02c5f242 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_15.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_7_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_2.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_2.err new file mode 100644 index 0000000000000000000000000000000000000000..b2fae4f65fbe05c40d7651fa2abb2c85f9b7f784 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_2.err @@ -0,0 +1,20 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 1056, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 389, in main + task_targets, task_counts = _export_task_targets( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 771, in _export_task_targets + env = gym.make(task_id, **env_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 682, in make + env_spec = _find_spec(id) + ^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 527, in _find_spec + _check_version_exists(ns, name, version) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 391, in _check_version_exists + _check_name_exists(ns, name) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 368, in _check_name_exists + raise error.NameNotFound( +gymnasium.error.NameNotFound: Environment `LiftPegUpright` doesn't exist. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_2.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_2.out new file mode 100644 index 0000000000000000000000000000000000000000..bb8446b0d4dd62daa417c997642b813e60aa64bc --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_2.out @@ -0,0 +1,15 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_2_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_3.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_3.err new file mode 100644 index 0000000000000000000000000000000000000000..b2fae4f65fbe05c40d7651fa2abb2c85f9b7f784 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_3.err @@ -0,0 +1,20 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 1056, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 389, in main + task_targets, task_counts = _export_task_targets( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 771, in _export_task_targets + env = gym.make(task_id, **env_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 682, in make + env_spec = _find_spec(id) + ^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 527, in _find_spec + _check_version_exists(ns, name, version) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 391, in _check_version_exists + _check_name_exists(ns, name) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 368, in _check_name_exists + raise error.NameNotFound( +gymnasium.error.NameNotFound: Environment `LiftPegUpright` doesn't exist. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_3.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_3.out new file mode 100644 index 0000000000000000000000000000000000000000..b6e30915b4710426cf38c2ea980ea5acc1e41c07 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_3.out @@ -0,0 +1,15 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_3_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_4.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_4.err new file mode 100644 index 0000000000000000000000000000000000000000..b2fae4f65fbe05c40d7651fa2abb2c85f9b7f784 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_4.err @@ -0,0 +1,20 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 1056, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 389, in main + task_targets, task_counts = _export_task_targets( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 771, in _export_task_targets + env = gym.make(task_id, **env_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 682, in make + env_spec = _find_spec(id) + ^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 527, in _find_spec + _check_version_exists(ns, name, version) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 391, in _check_version_exists + _check_name_exists(ns, name) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 368, in _check_name_exists + raise error.NameNotFound( +gymnasium.error.NameNotFound: Environment `LiftPegUpright` doesn't exist. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_4.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_4.out new file mode 100644 index 0000000000000000000000000000000000000000..c46f2039e72dd773470ccc19e8c90e127507390d --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_4.out @@ -0,0 +1,15 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_4_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_5.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_5.err new file mode 100644 index 0000000000000000000000000000000000000000..b2fae4f65fbe05c40d7651fa2abb2c85f9b7f784 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_5.err @@ -0,0 +1,20 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 1056, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 389, in main + task_targets, task_counts = _export_task_targets( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 771, in _export_task_targets + env = gym.make(task_id, **env_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 682, in make + env_spec = _find_spec(id) + ^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 527, in _find_spec + _check_version_exists(ns, name, version) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 391, in _check_version_exists + _check_name_exists(ns, name) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 368, in _check_name_exists + raise error.NameNotFound( +gymnasium.error.NameNotFound: Environment `LiftPegUpright` doesn't exist. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_5.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_5.out new file mode 100644 index 0000000000000000000000000000000000000000..311d2d82e2072809642942334113ffbbfe720e80 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_5.out @@ -0,0 +1,15 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_5_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_6.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_6.err new file mode 100644 index 0000000000000000000000000000000000000000..b2fae4f65fbe05c40d7651fa2abb2c85f9b7f784 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_6.err @@ -0,0 +1,20 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 1056, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 389, in main + task_targets, task_counts = _export_task_targets( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 771, in _export_task_targets + env = gym.make(task_id, **env_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 682, in make + env_spec = _find_spec(id) + ^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 527, in _find_spec + _check_version_exists(ns, name, version) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 391, in _check_version_exists + _check_name_exists(ns, name) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 368, in _check_name_exists + raise error.NameNotFound( +gymnasium.error.NameNotFound: Environment `LiftPegUpright` doesn't exist. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_6.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_6.out new file mode 100644 index 0000000000000000000000000000000000000000..c0145ecbaade9fa8961040889c599ef1f44e5623 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_6.out @@ -0,0 +1,15 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_6_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_7.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_7.err new file mode 100644 index 0000000000000000000000000000000000000000..b2fae4f65fbe05c40d7651fa2abb2c85f9b7f784 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_7.err @@ -0,0 +1,20 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 1056, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 389, in main + task_targets, task_counts = _export_task_targets( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/export_retrieval_residual_field_targets.py", line 771, in _export_task_targets + env = gym.make(task_id, **env_kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 682, in make + env_spec = _find_spec(id) + ^^^^^^^^^^^^^^ + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 527, in _find_spec + _check_version_exists(ns, name, version) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 391, in _check_version_exists + _check_name_exists(ns, name) + File "/scratch/knguy52/dovla/envs/maniskill/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 368, in _check_name_exists + raise error.NameNotFound( +gymnasium.error.NameNotFound: Environment `LiftPegUpright` doesn't exist. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_7.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_7.out new file mode 100644 index 0000000000000000000000000000000000000000..d803b0e02acb16af64f439ccfcd6ccf1878540d8 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_7.out @@ -0,0 +1,15 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_7_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_8.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_8.err new file mode 100644 index 0000000000000000000000000000000000000000..f22a63c8eb4fed7ade2d59084db360671075275f --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_8.err @@ -0,0 +1 @@ +[2026-07-02T05:36:47.073] error: *** JOB 15036975 ON rg13102 CANCELLED AT 2026-07-02T05:36:47 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_8.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_8.out new file mode 100644 index 0000000000000000000000000000000000000000..15f207124e9f2135d31df8ee3d4d5f36a8a41266 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_8.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_0_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_9.err b/workspace/outputs/hpc/logs/export_field_targets_15036936_9.err new file mode 100644 index 0000000000000000000000000000000000000000..555a64e1506d94cba7022b8651a4ebb704540734 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_9.err @@ -0,0 +1 @@ +[2026-07-02T05:36:47.073] error: *** JOB 15036976 ON rg13102 CANCELLED AT 2026-07-02T05:36:47 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036936_9.out b/workspace/outputs/hpc/logs/export_field_targets_15036936_9.out new file mode 100644 index 0000000000000000000000000000000000000000..7a07d73b13f26778b5b3594a6bfa38a303066237 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036936_9.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_shard_1_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_0.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_0.err new file mode 100644 index 0000000000000000000000000000000000000000..67b3f53861bf71a77628a6c33b241bd38630f30f --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_0.err @@ -0,0 +1,10 @@ +2026-07-02 01:42:17,458 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:42:19,298 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:42:24,548 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:42:26,457 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:42:31,672 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:42:33,578 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:42:38,679 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:42:40,617 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:42:45,828 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:42:47,700 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_0.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_0.out new file mode 100644 index 0000000000000000000000000000000000000000..250e25c691b56cabc2d4370bcacd3f7f31ecccfd --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_0.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_0_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 278, + "retrieval_residual_residual_wrong_gripper": 579, + "retrieval_residual_residual_near_miss": 656, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 300, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 125, + "retrieval_residual_residual_no_op": 366 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_0_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_1.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_1.err new file mode 100644 index 0000000000000000000000000000000000000000..8325794a5efdcd3c25bfa4b616d5d526ce86d46b --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_1.err @@ -0,0 +1,10 @@ +2026-07-02 01:41:27,349 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:29,011 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:33,653 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:35,329 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:40,002 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:41,718 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:46,399 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:48,087 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:52,688 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:54,333 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_1.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_1.out new file mode 100644 index 0000000000000000000000000000000000000000..194f39c5b00e1dee9baa9ebde49cf52572446e5f --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_1.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_1_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 278, + "retrieval_residual_residual_wrong_gripper": 577, + "retrieval_residual_residual_near_miss": 638, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 297, + "retrieval_residual_residual_no_op": 366, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 148 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_1_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_10.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_10.err new file mode 100644 index 0000000000000000000000000000000000000000..ec8ac9af65099dc5636f70e82d1473dfd364530e --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_10.err @@ -0,0 +1,10 @@ +2026-07-02 01:47:27,619 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:29,292 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:34,001 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:35,759 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:40,447 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:42,202 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:46,954 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:48,670 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:53,414 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:55,117 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_10.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_10.out new file mode 100644 index 0000000000000000000000000000000000000000..19d9d67e2d9069cd08f1b4e4fdfb9ca3ae29e94e --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_10.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_2_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 272, + "retrieval_residual_residual_near_miss": 611, + "retrieval_residual_residual_wrong_gripper": 567, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 324, + "retrieval_residual_residual_no_op": 390, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 132 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_2_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_11.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_11.err new file mode 100644 index 0000000000000000000000000000000000000000..607a0f0f3c4d7c08f84a3d5df3f4a3025c56ebba --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_11.err @@ -0,0 +1,10 @@ +2026-07-02 01:47:23,443 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:25,105 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:29,762 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:31,481 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:36,118 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:37,816 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:42,517 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:44,218 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:49,001 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:50,679 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_11.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_11.out new file mode 100644 index 0000000000000000000000000000000000000000..5b0671f863a594f016b2d23eb93fea50cd01ff79 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_11.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_3_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 276, + "retrieval_residual_residual_wrong_gripper": 542, + "retrieval_residual_residual_near_miss": 619, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 318, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 130, + "retrieval_residual_residual_no_op": 411 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_3_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_12.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_12.err new file mode 100644 index 0000000000000000000000000000000000000000..e4c97f8139759b9c646d0a21b323a1dab9d7424f --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_12.err @@ -0,0 +1,10 @@ +2026-07-02 01:47:26,637 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:28,346 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:32,981 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:34,744 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:39,549 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:41,298 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:46,109 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:47,830 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:52,480 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:54,184 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_12.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_12.out new file mode 100644 index 0000000000000000000000000000000000000000..5c8d1876a7f831c16581da47d268ab3b2c265efb --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_12.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_4_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 273, + "retrieval_residual_residual_wrong_gripper": 555, + "retrieval_residual_residual_near_miss": 638, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 335, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 123, + "retrieval_residual_residual_no_op": 372 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_4_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_13.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_13.err new file mode 100644 index 0000000000000000000000000000000000000000..9ef5da9a91a606d11943ed43b19414fd1d2a1092 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_13.err @@ -0,0 +1,10 @@ +2026-07-02 01:47:26,239 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:27,901 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:32,438 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:34,143 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:38,690 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:40,361 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:45,024 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:46,736 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:51,437 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:53,124 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_13.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_13.out new file mode 100644 index 0000000000000000000000000000000000000000..aba8952ea30e8468baaf246ade25b01378e9b200 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_13.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_5_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 272, + "retrieval_residual_residual_wrong_gripper": 572, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 296, + "retrieval_residual_residual_near_miss": 607, + "retrieval_residual_residual_no_op": 399, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 150 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_5_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_14.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_14.err new file mode 100644 index 0000000000000000000000000000000000000000..1bb782da48d41e512716ab2586fae6ab519273c4 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_14.err @@ -0,0 +1,10 @@ +2026-07-02 01:47:28,583 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:30,231 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:34,771 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:36,455 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:41,066 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:42,745 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:47,442 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:49,126 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:53,892 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:55,563 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_14.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_14.out new file mode 100644 index 0000000000000000000000000000000000000000..712acbb1af1016ebe54e433b3f6487cb73c704d9 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_14.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_6_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 270, + "retrieval_residual_residual_wrong_gripper": 574, + "retrieval_residual_residual_no_op": 391, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 315, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 156, + "retrieval_residual_residual_near_miss": 590 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_6_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_15.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_15.err new file mode 100644 index 0000000000000000000000000000000000000000..9f88d182e51d7718a3eaf4c42117b50bd8b44a96 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_15.err @@ -0,0 +1,10 @@ +2026-07-02 01:48:29,989 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:48:31,743 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:48:36,653 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:48:38,440 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:48:43,303 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:48:45,083 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:48:49,949 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:48:51,760 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:48:56,683 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:48:58,476 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_15.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_15.out new file mode 100644 index 0000000000000000000000000000000000000000..53840dc4cb4eac572ea133a547777883cefc4266 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_15.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_7_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 270, + "retrieval_residual_residual_wrong_gripper": 552, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 321, + "retrieval_residual_residual_near_miss": 625, + "retrieval_residual_residual_no_op": 406, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 122 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_7_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_16.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_16.err new file mode 100644 index 0000000000000000000000000000000000000000..9678bd58aad9e76e619b2087e65b950f353d6d93 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_16.err @@ -0,0 +1,10 @@ +2026-07-02 01:53:13,391 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:15,024 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:19,576 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:21,247 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:25,867 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:27,529 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:32,091 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:33,759 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:38,415 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:40,101 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_16.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_16.out new file mode 100644 index 0000000000000000000000000000000000000000..c928028a82b22943ee65b18e95217aabc836b1b6 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_16.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_0_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 272, + "retrieval_residual_residual_wrong_gripper": 581, + "retrieval_residual_residual_near_miss": 615, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 292, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 159, + "retrieval_residual_residual_no_op": 385 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_0_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_17.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_17.err new file mode 100644 index 0000000000000000000000000000000000000000..151c262adbf8d661d4265fca8c6ebd6d54b87583 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_17.err @@ -0,0 +1,10 @@ +2026-07-02 01:53:12,021 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:13,691 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:18,345 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:20,015 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:24,602 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:26,272 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:30,884 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:32,562 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:37,274 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:39,000 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_17.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_17.out new file mode 100644 index 0000000000000000000000000000000000000000..978d58e84b0a1a7009739155627ad693804e935c --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_17.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_1_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 273, + "retrieval_residual_residual_wrong_gripper": 593, + "retrieval_residual_residual_near_miss": 630, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 274, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 151, + "retrieval_residual_residual_no_op": 383 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_1_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_18.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_18.err new file mode 100644 index 0000000000000000000000000000000000000000..918f3829eb0fe0822cef5f1443f6cb719c457930 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_18.err @@ -0,0 +1,10 @@ +2026-07-02 01:53:15,766 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:17,409 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:22,076 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:23,766 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:28,388 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:30,059 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:34,669 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:36,353 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:41,069 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:42,758 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_18.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_18.out new file mode 100644 index 0000000000000000000000000000000000000000..71e1e2e4146cb260b22d8fa5af4f8d8feb2e5ec9 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_18.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_2_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 269, + "retrieval_residual_residual_wrong_gripper": 548, + "retrieval_residual_residual_near_miss": 641, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 270, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 155, + "retrieval_residual_residual_no_op": 413 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_2_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_19.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_19.err new file mode 100644 index 0000000000000000000000000000000000000000..108d167d2ee2282766d42bb7475e7c8b6a1dca6d --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_19.err @@ -0,0 +1,10 @@ +2026-07-02 01:53:19,327 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:20,976 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:25,598 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:27,290 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:32,040 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:33,788 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:38,544 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:40,277 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:45,096 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:46,767 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_19.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_19.out new file mode 100644 index 0000000000000000000000000000000000000000..607072c6b440c549ecfd3762d4570d7a9d9f3f3a --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_19.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_3_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 273, + "retrieval_residual_residual_wrong_gripper": 585, + "retrieval_residual_residual_near_miss": 630, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 265, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 143, + "retrieval_residual_residual_no_op": 400 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_3_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_2.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_2.err new file mode 100644 index 0000000000000000000000000000000000000000..9671dae47c413f452e4270e17046b92e5221fcc8 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_2.err @@ -0,0 +1,10 @@ +2026-07-02 01:41:27,522 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:29,196 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:33,802 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:35,541 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:40,193 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:41,930 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:46,612 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:48,313 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:53,004 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:54,680 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_2.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_2.out new file mode 100644 index 0000000000000000000000000000000000000000..1cbfa5d8a3f92510e96f47535139b1c4f4e12bda --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_2.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_2_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 279, + "retrieval_residual_residual_wrong_gripper": 617, + "retrieval_residual_residual_near_miss": 633, + "retrieval_residual_residual_no_op": 337, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 309, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 121 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_2_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_20.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_20.err new file mode 100644 index 0000000000000000000000000000000000000000..474afa09b24cf98a0f638169b06a0facc7790324 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_20.err @@ -0,0 +1,10 @@ +2026-07-02 01:53:17,823 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:19,465 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:24,143 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:25,879 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:30,609 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:32,358 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:37,076 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:38,796 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:43,506 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:45,200 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_20.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_20.out new file mode 100644 index 0000000000000000000000000000000000000000..ac01264dd570d6d15f54f0029b91350136040c4c --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_20.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_4_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 270, + "retrieval_residual_residual_wrong_gripper": 581, + "retrieval_residual_residual_near_miss": 652, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 285, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 144, + "retrieval_residual_residual_no_op": 364 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_4_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_21.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_21.err new file mode 100644 index 0000000000000000000000000000000000000000..f158b188b9c62a14343020b78c4160bdaf6a72f0 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_21.err @@ -0,0 +1,10 @@ +2026-07-02 01:53:22,583 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:24,251 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:28,822 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:30,533 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:35,113 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:36,781 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:41,436 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:43,137 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:47,795 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:49,487 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_21.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_21.out new file mode 100644 index 0000000000000000000000000000000000000000..ae46edbfb1d59764cce3010e967e23ce3f12a5b5 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_21.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_5_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 272, + "retrieval_residual_residual_wrong_gripper": 590, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 268, + "retrieval_residual_residual_near_miss": 617, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 166, + "retrieval_residual_residual_no_op": 383 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_5_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_22.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_22.err new file mode 100644 index 0000000000000000000000000000000000000000..094ff88574afa06ddde268a63548cf554f561b85 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_22.err @@ -0,0 +1,10 @@ +2026-07-02 01:53:24,719 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:26,383 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:31,123 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:32,880 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:37,590 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:39,378 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:44,091 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:45,801 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:50,597 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:53:52,352 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_22.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_22.out new file mode 100644 index 0000000000000000000000000000000000000000..0706c21399bd004c619dfdc3090e6c84c422e099 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_22.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_6_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 265, + "retrieval_residual_residual_wrong_gripper": 549, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 254, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 137, + "retrieval_residual_residual_near_miss": 674, + "retrieval_residual_residual_no_op": 417 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_6_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_23.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_23.err new file mode 100644 index 0000000000000000000000000000000000000000..99c2d77a01c655982dd095bdd734fe3ea1720f3e --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_23.err @@ -0,0 +1,10 @@ +2026-07-02 01:54:57,281 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:54:59,030 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:55:03,745 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:55:05,700 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:55:10,579 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:55:12,307 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:55:17,236 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:55:19,012 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:55:23,848 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:55:25,597 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_23.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_23.out new file mode 100644 index 0000000000000000000000000000000000000000..5e418cb2b8fe63224081db70dec481c9bbae6675 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_23.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_7_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 258, + "retrieval_residual_residual_wrong_gripper": 570, + "retrieval_residual_residual_near_miss": 595, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 284, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 186, + "retrieval_residual_residual_no_op": 403 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_7_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_3.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_3.err new file mode 100644 index 0000000000000000000000000000000000000000..69e5286fc697cd54865626cecdc72fcd346401db --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_3.err @@ -0,0 +1,10 @@ +2026-07-02 01:41:27,199 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:28,806 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:33,481 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:35,162 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:39,817 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:41,552 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:46,249 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:47,950 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:52,606 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:54,237 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_3.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_3.out new file mode 100644 index 0000000000000000000000000000000000000000..3989b372a8dc5abcc40c814fe981a42d5a6c0efe --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_3.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_3_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 279, + "retrieval_residual_residual_wrong_gripper": 594, + "retrieval_residual_residual_near_miss": 650, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 298, + "retrieval_residual_residual_no_op": 353, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 122 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_3_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_4.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_4.err new file mode 100644 index 0000000000000000000000000000000000000000..4080cc5afc799672df45323954c26a1e577c8a7b --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_4.err @@ -0,0 +1,10 @@ +2026-07-02 01:41:29,173 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:30,852 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:35,495 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:37,192 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:41,844 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:43,536 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:48,260 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:49,951 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:54,715 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:56,410 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_4.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_4.out new file mode 100644 index 0000000000000000000000000000000000000000..9993402c3f43e098d11aff92020ad7ddb4dae7f6 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_4.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_4_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 275, + "retrieval_residual_residual_wrong_gripper": 575, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 134, + "retrieval_residual_residual_near_miss": 653, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 290, + "retrieval_residual_residual_no_op": 369 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_4_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_5.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_5.err new file mode 100644 index 0000000000000000000000000000000000000000..d1f84b2154ffd576950e43812351c698ba298f21 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_5.err @@ -0,0 +1,10 @@ +2026-07-02 01:41:29,624 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:31,314 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:36,036 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:37,760 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:42,517 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:44,209 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:48,896 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:50,625 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:55,410 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:57,077 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_5.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_5.out new file mode 100644 index 0000000000000000000000000000000000000000..e262b6ed8975f0f354a45ae47a848527b3446a6d --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_5.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_5_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 280, + "retrieval_residual_residual_wrong_gripper": 599, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 301, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 120, + "retrieval_residual_residual_near_miss": 653, + "retrieval_residual_residual_no_op": 343 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_5_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_6.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_6.err new file mode 100644 index 0000000000000000000000000000000000000000..072e6607c0f5e5a97be779d5b55ef4510d22f410 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_6.err @@ -0,0 +1,10 @@ +2026-07-02 01:41:27,436 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:29,088 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:33,725 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:35,493 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:40,169 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:41,885 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:46,629 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:48,331 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:53,053 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:54,719 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_6.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_6.out new file mode 100644 index 0000000000000000000000000000000000000000..fb0502654398330c00568bc40b438f8b2e761bbb --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_6.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_6_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 271, + "retrieval_residual_residual_wrong_gripper": 574, + "retrieval_residual_residual_near_miss": 654, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 314, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 139, + "retrieval_residual_residual_no_op": 344 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_6_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_7.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_7.err new file mode 100644 index 0000000000000000000000000000000000000000..3cdfa15979e295551d2a6b9e4c52f1ca36b2a6e4 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_7.err @@ -0,0 +1,10 @@ +2026-07-02 01:41:29,099 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:30,739 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:35,467 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:37,181 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:41,915 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:43,613 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:48,388 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:50,114 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:54,817 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:41:56,510 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_7.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_7.out new file mode 100644 index 0000000000000000000000000000000000000000..6038cb67439f711530ea26de84c6fd736d0daade --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_7.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_7_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 267, + "retrieval_residual_residual_wrong_gripper": 567, + "retrieval_residual_residual_near_miss": 641, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 304, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 146, + "retrieval_residual_residual_no_op": 371 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_7_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_8.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_8.err new file mode 100644 index 0000000000000000000000000000000000000000..98a4fcffa7a680e9ce33a58b8a34674c4c291d0b --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_8.err @@ -0,0 +1,10 @@ +2026-07-02 01:47:19,868 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:21,525 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:26,106 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:27,774 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:32,328 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:34,007 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:38,627 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:40,342 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:45,100 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:46,760 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_8.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_8.out new file mode 100644 index 0000000000000000000000000000000000000000..e712e41fd7b9c92865e3a88889d6ca925696a700 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_8.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_0_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 274, + "retrieval_residual_residual_wrong_gripper": 571, + "retrieval_residual_residual_near_miss": 596, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 316, + "retrieval_residual_residual_no_op": 389, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 158 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_0_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_9.err b/workspace/outputs/hpc/logs/export_field_targets_15036998_9.err new file mode 100644 index 0000000000000000000000000000000000000000..543f57f1837e2952b8b033468f4e21e6c34676eb --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_9.err @@ -0,0 +1,10 @@ +2026-07-02 01:47:28,548 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:30,232 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:34,883 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:36,587 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:41,224 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:42,930 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:47,653 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:49,360 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:54,132 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 01:47:55,828 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15036998_9.out b/workspace/outputs/hpc/logs/export_field_targets_15036998_9.out new file mode 100644 index 0000000000000000000000000000000000000000..0051a5871d4cb7bec54d64cf7422e397531c8837 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15036998_9.out @@ -0,0 +1,91 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_1_of_8.json +Branches: 8 +Retrieval: k=4 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 266, + "retrieval_residual_residual_wrong_gripper": 549, + "retrieval_residual_residual_near_miss": 593, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 313, + "retrieval_residual_residual_no_op": 409, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 174 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_1_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_0.err b/workspace/outputs/hpc/logs/export_field_targets_15039645_0.err new file mode 100644 index 0000000000000000000000000000000000000000..c5216f6103f9ed722d3bdcf4b7d99accdc8eef7b --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_0.err @@ -0,0 +1 @@ +[2026-07-02T07:17:31.697] error: *** JOB 15039675 ON rg12802 CANCELLED AT 2026-07-02T07:17:31 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_0.out b/workspace/outputs/hpc/logs/export_field_targets_15039645_0.out new file mode 100644 index 0000000000000000000000000000000000000000..646f2be8746b30c14ff58df178277bf58b4db478 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_0.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_1.err b/workspace/outputs/hpc/logs/export_field_targets_15039645_1.err new file mode 100644 index 0000000000000000000000000000000000000000..522aabe752564d7b2a87913c49a0ba4bc8056e9f --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_1.err @@ -0,0 +1 @@ +[2026-07-02T07:17:31.697] error: *** JOB 15039676 ON rg12901 CANCELLED AT 2026-07-02T07:17:31 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_1.out b/workspace/outputs/hpc/logs/export_field_targets_15039645_1.out new file mode 100644 index 0000000000000000000000000000000000000000..e3e9d578a8f0e2c111f07dd556ec21609ecc8685 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_1.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_2.err b/workspace/outputs/hpc/logs/export_field_targets_15039645_2.err new file mode 100644 index 0000000000000000000000000000000000000000..9061cd200caab5c8394aee67a7fdda0c4d5e52b2 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_2.err @@ -0,0 +1 @@ +[2026-07-02T07:17:31.697] error: *** JOB 15039677 ON rg13001 CANCELLED AT 2026-07-02T07:17:31 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_2.out b/workspace/outputs/hpc/logs/export_field_targets_15039645_2.out new file mode 100644 index 0000000000000000000000000000000000000000..5b4589643c85bab90e8a03c5a83bf9681cc6ee75 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_2.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_3.err b/workspace/outputs/hpc/logs/export_field_targets_15039645_3.err new file mode 100644 index 0000000000000000000000000000000000000000..eaec3a2bf36107d57bc57ec9cef7c9e80ab5644a --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_3.err @@ -0,0 +1 @@ +[2026-07-02T07:17:31.697] error: *** JOB 15039678 ON rg13202 CANCELLED AT 2026-07-02T07:17:31 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_3.out b/workspace/outputs/hpc/logs/export_field_targets_15039645_3.out new file mode 100644 index 0000000000000000000000000000000000000000..2d24e3c9a0a67f38fcad85bd0bb5a6a2f6f1d659 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_3.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_4.err b/workspace/outputs/hpc/logs/export_field_targets_15039645_4.err new file mode 100644 index 0000000000000000000000000000000000000000..8a8197a8471250ae44dc38acfba24930d84706b0 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_4.err @@ -0,0 +1 @@ +[2026-07-02T07:17:31.697] error: *** JOB 15039679 ON rg13202 CANCELLED AT 2026-07-02T07:17:31 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_4.out b/workspace/outputs/hpc/logs/export_field_targets_15039645_4.out new file mode 100644 index 0000000000000000000000000000000000000000..fe5092998b281311538f5adc325fcdc2a8172be8 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_4.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_5.err b/workspace/outputs/hpc/logs/export_field_targets_15039645_5.err new file mode 100644 index 0000000000000000000000000000000000000000..184fdd99fd3fd82daf78c02a46eb3cf389ed53b2 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_5.err @@ -0,0 +1 @@ +[2026-07-02T07:17:31.697] error: *** JOB 15039680 ON rg12601 CANCELLED AT 2026-07-02T07:17:31 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_5.out b/workspace/outputs/hpc/logs/export_field_targets_15039645_5.out new file mode 100644 index 0000000000000000000000000000000000000000..492386752d9994dae207fd29c058dfa238086e1f --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_5.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_6.err b/workspace/outputs/hpc/logs/export_field_targets_15039645_6.err new file mode 100644 index 0000000000000000000000000000000000000000..c9e7fe7fb826ed782ebb998e987cac3a7e3d9450 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_6.err @@ -0,0 +1 @@ +[2026-07-02T07:17:31.697] error: *** JOB 15039681 ON rg12601 CANCELLED AT 2026-07-02T07:17:31 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_6.out b/workspace/outputs/hpc/logs/export_field_targets_15039645_6.out new file mode 100644 index 0000000000000000000000000000000000000000..3e4b46239d5efe2fb7ba7901b6e7a94e23e8a7ee --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_6.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_7.err b/workspace/outputs/hpc/logs/export_field_targets_15039645_7.err new file mode 100644 index 0000000000000000000000000000000000000000..4cb0b14982f46e076211d5f7eb0d54df0498907c --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_7.err @@ -0,0 +1 @@ +[2026-07-02T07:17:31.697] error: *** JOB 15039682 ON rg12603 CANCELLED AT 2026-07-02T07:17:31 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_7.out b/workspace/outputs/hpc/logs/export_field_targets_15039645_7.out new file mode 100644 index 0000000000000000000000000000000000000000..c67ee6bccc3b7268cf434384b3186e41cfb85783 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_7.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_8.err b/workspace/outputs/hpc/logs/export_field_targets_15039645_8.err new file mode 100644 index 0000000000000000000000000000000000000000..0a43140d5028c355eda1996be530459835bc11f1 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_8.err @@ -0,0 +1 @@ +[2026-07-02T07:17:31.697] error: *** JOB 15039683 ON rg12603 CANCELLED AT 2026-07-02T07:17:31 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_8.out b/workspace/outputs/hpc/logs/export_field_targets_15039645_8.out new file mode 100644 index 0000000000000000000000000000000000000000..0c256589805257230b13abc27a038e927e341a75 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_8.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_9.err b/workspace/outputs/hpc/logs/export_field_targets_15039645_9.err new file mode 100644 index 0000000000000000000000000000000000000000..7e4c3cd4c0dc20397153c35cabff577dfcfaa342 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_9.err @@ -0,0 +1 @@ +[2026-07-02T07:17:31.697] error: *** JOB 15039684 ON rg12603 CANCELLED AT 2026-07-02T07:17:31 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039645_9.out b/workspace/outputs/hpc/logs/export_field_targets_15039645_9.out new file mode 100644 index 0000000000000000000000000000000000000000..c47a22d4e3da801be57fb6cd136bea0e7b4bd206 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039645_9.out @@ -0,0 +1,14 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: residual_no_op=0.03 +================================================== diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_0.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_0.err new file mode 100644 index 0000000000000000000000000000000000000000..5a380011323792b1c80c9ef7d354bf38832c99dd --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_0.err @@ -0,0 +1,10 @@ +2026-07-02 03:23:50,312 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:51,982 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:56,575 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:58,299 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:02,914 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:04,678 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:09,331 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:11,100 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:15,829 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:17,531 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_0.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_0.out new file mode 100644 index 0000000000000000000000000000000000000000..3555366bfe27468b969217c2f6ae251439bfd532 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_0.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_0_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 285, + "retrieval_residual_residual_wrong_gripper": 789, + "retrieval_residual_residual_near_miss": 814, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 766, + "retrieval_residual_residual_no_op": 574, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 226 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_0_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_1.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_1.err new file mode 100644 index 0000000000000000000000000000000000000000..4edaa643bfe10db670dc418907af1d2f0aa14598 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_1.err @@ -0,0 +1,10 @@ +2026-07-02 03:23:43,504 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:45,225 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:49,804 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:51,599 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:56,267 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:58,005 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:02,703 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:04,437 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:09,037 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:10,755 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_1.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_1.out new file mode 100644 index 0000000000000000000000000000000000000000..1864ec4e61022e55feb50ca0272ad08b9b161f5d --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_1.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_1_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 284, + "retrieval_residual_residual_wrong_gripper": 790, + "retrieval_residual_residual_near_miss": 801, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 739, + "retrieval_residual_residual_no_op": 569, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 273 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_1_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_10.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_10.err new file mode 100644 index 0000000000000000000000000000000000000000..0b572f383ea8b5174354e6ad59b52cb15eaa4d06 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_10.err @@ -0,0 +1,10 @@ +2026-07-02 03:26:58,605 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:00,328 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:05,037 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:06,854 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:11,634 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:13,393 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:18,186 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:19,982 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:24,678 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:26,422 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_10.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_10.out new file mode 100644 index 0000000000000000000000000000000000000000..706ad4547787fe3ad9210f82f845d755de0c999b --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_10.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_2_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 280, + "retrieval_residual_residual_wrong_gripper": 771, + "retrieval_residual_residual_near_miss": 803, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 732, + "retrieval_residual_residual_no_op": 560, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 298 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_2_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_11.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_11.err new file mode 100644 index 0000000000000000000000000000000000000000..dd353a87a2a0a4af952975693c2f55b5700638ea --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_11.err @@ -0,0 +1,10 @@ +2026-07-02 03:27:01,091 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:02,833 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:07,502 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:09,302 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:13,969 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:15,723 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:20,409 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:22,164 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:26,880 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:28,618 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_11.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_11.out new file mode 100644 index 0000000000000000000000000000000000000000..6c8d795f032000e2837d71757d6d427cf839ecd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_11.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_3_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 280, + "retrieval_residual_residual_wrong_gripper": 739, + "retrieval_residual_residual_near_miss": 809, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 723, + "retrieval_residual_residual_no_op": 583, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 310 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_3_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_12.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_12.err new file mode 100644 index 0000000000000000000000000000000000000000..7c965ae3323c3774d4822c6d1d45b6d486b69285 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_12.err @@ -0,0 +1,10 @@ +2026-07-02 03:27:01,638 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:03,389 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:08,015 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:09,880 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:14,677 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:16,451 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:21,239 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:23,078 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:27,809 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:29,594 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_12.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_12.out new file mode 100644 index 0000000000000000000000000000000000000000..a19bdf67d5a12a679f05b161cbf4ffb571d4b7d3 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_12.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_4_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 279, + "retrieval_residual_residual_wrong_gripper": 763, + "retrieval_residual_residual_near_miss": 807, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 743, + "retrieval_residual_residual_no_op": 543, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 307 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_4_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_13.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_13.err new file mode 100644 index 0000000000000000000000000000000000000000..5cc65aa84f4d8bac82c1fe18d99534149299c830 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_13.err @@ -0,0 +1,10 @@ +2026-07-02 03:27:00,938 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:02,665 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:07,377 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:09,161 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:13,846 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:15,579 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:20,268 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:22,046 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:26,748 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:28,481 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_13.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_13.out new file mode 100644 index 0000000000000000000000000000000000000000..14aa86207e894f158c25699a8df3128a0bb6c03d --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_13.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_5_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 749, + "retrieval_residual_policy_residual": 278, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 729, + "retrieval_residual_residual_near_miss": 795, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 336, + "retrieval_residual_residual_no_op": 557 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_5_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_14.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_14.err new file mode 100644 index 0000000000000000000000000000000000000000..1296ee5d0a7ccfb91557e4ee10b9270ce09f5ec2 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_14.err @@ -0,0 +1,10 @@ +2026-07-02 03:27:00,894 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:02,641 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:07,299 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:09,215 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:13,916 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:15,693 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:20,432 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:22,251 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:27,089 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:28,826 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_14.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_14.out new file mode 100644 index 0000000000000000000000000000000000000000..16b175b4a6bb6afe60f9787ef8151e3439d437aa --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_14.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_6_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 767, + "retrieval_residual_policy_residual": 280, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 745, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 323, + "retrieval_residual_residual_no_op": 540, + "retrieval_residual_residual_near_miss": 789 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_6_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_15.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_15.err new file mode 100644 index 0000000000000000000000000000000000000000..23f2052cff0f0ce567bd212f27cf181bb2a71602 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_15.err @@ -0,0 +1,10 @@ +2026-07-02 03:27:01,092 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:02,812 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:07,480 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:09,254 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:13,935 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:15,723 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:20,467 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:22,278 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:27,013 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:28,789 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_15.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_15.out new file mode 100644 index 0000000000000000000000000000000000000000..0e614b4bc5c2ec4cf0e0e951463e21fddacf3b57 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_15.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_7_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 752, + "retrieval_residual_policy_residual": 278, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 742, + "retrieval_residual_residual_near_miss": 818, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 305, + "retrieval_residual_residual_no_op": 549 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_7_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_16.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_16.err new file mode 100644 index 0000000000000000000000000000000000000000..eae185289f99d88dac1dd2ef765f71bceb4e1e87 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_16.err @@ -0,0 +1,10 @@ +2026-07-02 03:27:04,445 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:06,226 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:11,010 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:12,840 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:17,693 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:19,551 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:24,446 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:26,283 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:31,209 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:33,018 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_16.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_16.out new file mode 100644 index 0000000000000000000000000000000000000000..56b75c8135526f9fe072b6d06a9465deb9390967 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_16.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_0_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 276, + "retrieval_residual_residual_wrong_gripper": 772, + "retrieval_residual_residual_near_miss": 781, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 732, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 284, + "retrieval_residual_residual_no_op": 611 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_0_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_17.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_17.err new file mode 100644 index 0000000000000000000000000000000000000000..61c9396df11e107e7ee5af671bd519a118bbc159 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_17.err @@ -0,0 +1,10 @@ +2026-07-02 03:27:05,618 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:07,348 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:12,020 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:13,778 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:18,438 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:20,190 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:24,916 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:26,693 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:31,441 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:33,222 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_17.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_17.out new file mode 100644 index 0000000000000000000000000000000000000000..6a9b1b5d70fe424a668472fc9d20e6a2865be7cd --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_17.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_1_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 274, + "retrieval_residual_residual_wrong_gripper": 780, + "retrieval_residual_residual_near_miss": 787, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 720, + "retrieval_residual_residual_no_op": 609, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 286 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_1_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_18.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_18.err new file mode 100644 index 0000000000000000000000000000000000000000..dd04d2902371fb71bd34ee5d5e41854c1ccd6edb --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_18.err @@ -0,0 +1,10 @@ +2026-07-02 03:27:15,479 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:17,243 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:22,132 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:23,998 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:29,024 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:31,139 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:36,263 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:38,152 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:43,180 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:45,025 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_18.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_18.out new file mode 100644 index 0000000000000000000000000000000000000000..e54df00b83a790ea7a22e2b78fc7fe4858c99e9e --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_18.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_2_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 270, + "retrieval_residual_residual_wrong_gripper": 748, + "retrieval_residual_residual_near_miss": 794, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 726, + "retrieval_residual_residual_no_op": 610, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 296 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_2_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_19.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_19.err new file mode 100644 index 0000000000000000000000000000000000000000..68a9883cb5170c24c6d1d451bfb7991128c52206 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_19.err @@ -0,0 +1,10 @@ +2026-07-02 03:27:02,034 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:03,761 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:08,346 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:10,133 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:14,795 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:16,554 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:21,272 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:23,138 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:27,979 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:27:29,712 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_19.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_19.out new file mode 100644 index 0000000000000000000000000000000000000000..4da872b976192915955c3adca28dbfe91fd7974d --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_19.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_3_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 275, + "retrieval_residual_residual_wrong_gripper": 762, + "retrieval_residual_residual_near_miss": 801, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 708, + "retrieval_residual_residual_no_op": 618, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 280 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_3_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_2.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_2.err new file mode 100644 index 0000000000000000000000000000000000000000..9d4a2710526faaa479d6256d1a231a3ee902668e --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_2.err @@ -0,0 +1,10 @@ +2026-07-02 03:23:46,517 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:48,218 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:52,794 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:54,571 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:59,229 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:00,960 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:05,623 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:07,350 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:12,035 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:13,725 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_2.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_2.out new file mode 100644 index 0000000000000000000000000000000000000000..b272efc3ecceffc4a1cfa4033cf0bb2ab3fa6521 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_2.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_2_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 285, + "retrieval_residual_residual_wrong_gripper": 805, + "retrieval_residual_residual_near_miss": 793, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 751, + "retrieval_residual_residual_no_op": 561, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 249 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_2_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_20.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_20.err new file mode 100644 index 0000000000000000000000000000000000000000..64ad423b1ae3edec13cbbc3c0db886041eaeb7ae --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_20.err @@ -0,0 +1,10 @@ +2026-07-02 03:30:05,247 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:06,980 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:11,670 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:13,436 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:18,153 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:19,940 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:24,717 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:26,512 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:31,316 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:33,114 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_20.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_20.out new file mode 100644 index 0000000000000000000000000000000000000000..dde64ba515ea27738b80c4df4804a98b6f5a3b49 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_20.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_4_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 273, + "retrieval_residual_residual_wrong_gripper": 740, + "retrieval_residual_residual_near_miss": 816, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 734, + "retrieval_residual_residual_no_op": 611, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 268 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_4_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_21.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_21.err new file mode 100644 index 0000000000000000000000000000000000000000..00d6fa8689d8d0be9f5bcc8905fff88ef84a7a91 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_21.err @@ -0,0 +1,10 @@ +2026-07-02 03:30:02,401 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:04,075 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:08,679 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:10,410 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:15,045 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:16,771 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:21,553 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:23,282 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:27,990 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:29,696 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_21.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_21.out new file mode 100644 index 0000000000000000000000000000000000000000..a4e901881d8777358a4c535c928e869b7463b937 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_21.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_5_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 274, + "retrieval_residual_residual_wrong_gripper": 764, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 719, + "retrieval_residual_residual_near_miss": 798, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 306, + "retrieval_residual_residual_no_op": 583 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_5_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_22.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_22.err new file mode 100644 index 0000000000000000000000000000000000000000..931f92c9862e62b8d80fb24b3f49919b4c447d5c --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_22.err @@ -0,0 +1,10 @@ +2026-07-02 03:30:01,360 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:03,029 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:07,641 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:09,365 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:13,947 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:15,687 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:20,376 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:22,149 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:26,933 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:28,662 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_22.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_22.out new file mode 100644 index 0000000000000000000000000000000000000000..823a3194df025869c3f2fc5d9944fd273718ee0f --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_22.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_6_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 746, + "retrieval_residual_policy_residual": 271, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 714, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 293, + "retrieval_residual_residual_no_op": 620, + "retrieval_residual_residual_near_miss": 800 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_6_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_23.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_23.err new file mode 100644 index 0000000000000000000000000000000000000000..d7b46a5e0d5882e8ad2cf2b67d72ec2a30d65355 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_23.err @@ -0,0 +1,10 @@ +2026-07-02 03:30:01,998 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:03,686 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:08,222 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:09,982 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:14,574 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:16,320 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:21,074 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:22,827 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:27,465 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:30:29,199 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_23.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_23.out new file mode 100644 index 0000000000000000000000000000000000000000..fbe9f344d3669c72930c4ba28038b37ae69950b6 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_23.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_7_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 268, + "retrieval_residual_residual_wrong_gripper": 745, + "retrieval_residual_residual_near_miss": 782, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 702, + "retrieval_residual_residual_no_op": 612, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 335 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_7_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_3.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_3.err new file mode 100644 index 0000000000000000000000000000000000000000..e6f462fd7bba77507b6bda08280e4e95134308fc --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_3.err @@ -0,0 +1,10 @@ +2026-07-02 03:23:48,782 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:50,483 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:55,230 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:57,021 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:01,752 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:03,514 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:08,254 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:10,040 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:14,792 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:16,560 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_3.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_3.out new file mode 100644 index 0000000000000000000000000000000000000000..b29ceda121db488c5184e6884b5cde695c2d3bd8 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_3.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_3_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 281, + "retrieval_residual_residual_wrong_gripper": 776, + "retrieval_residual_residual_near_miss": 808, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 759, + "retrieval_residual_residual_no_op": 582, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 238 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_3_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_4.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_4.err new file mode 100644 index 0000000000000000000000000000000000000000..b5fa065a135362c27dad31da76ef1bf1686c3c0a --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_4.err @@ -0,0 +1,10 @@ +2026-07-02 03:23:49,239 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:50,974 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:55,589 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:57,364 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:02,124 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:03,899 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:08,681 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:10,546 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:15,326 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:17,188 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_4.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_4.out new file mode 100644 index 0000000000000000000000000000000000000000..a9ece97249e58e9ca02090d718a0dbc86ef9553e --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_4.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_4_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 279, + "retrieval_residual_residual_wrong_gripper": 787, + "retrieval_residual_residual_near_miss": 789, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 247, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 773, + "retrieval_residual_residual_no_op": 569 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_4_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_5.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_5.err new file mode 100644 index 0000000000000000000000000000000000000000..d79c62bd66235a551e7e6295653e6cf532cf339f --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_5.err @@ -0,0 +1,10 @@ +2026-07-02 03:24:09,150 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:10,939 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:15,766 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:17,597 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:22,648 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:24,519 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:29,604 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:31,416 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:36,351 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:38,133 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_5.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_5.out new file mode 100644 index 0000000000000000000000000000000000000000..a43036c2d5cbca936c437cb2130042d53b0ea4bd --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_5.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_5_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 796, + "retrieval_residual_policy_residual": 286, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 765, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 245, + "retrieval_residual_residual_near_miss": 791, + "retrieval_residual_residual_no_op": 561 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_5_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_6.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_6.err new file mode 100644 index 0000000000000000000000000000000000000000..cea1da70a988be2684d313f7ea912f273c61f600 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_6.err @@ -0,0 +1,10 @@ +2026-07-02 03:24:08,947 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:10,682 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:15,404 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:17,269 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:22,227 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:24,093 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:29,094 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:30,975 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:35,898 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:37,718 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_6.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_6.out new file mode 100644 index 0000000000000000000000000000000000000000..1d876aad7e6319c54cabd2d9a4ca5855b522edb6 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_6.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_6_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 280, + "retrieval_residual_residual_wrong_gripper": 787, + "retrieval_residual_residual_near_miss": 784, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 760, + "retrieval_residual_residual_no_op": 574, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 259 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_6_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_7.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_7.err new file mode 100644 index 0000000000000000000000000000000000000000..f458fca67b4b8974daa20ce555ce65896a5e32c1 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_7.err @@ -0,0 +1,10 @@ +2026-07-02 03:24:01,722 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:03,557 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:08,542 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:10,481 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:15,566 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:17,441 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:22,594 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:24,585 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:29,759 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:31,599 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_7.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_7.out new file mode 100644 index 0000000000000000000000000000000000000000..ad10c008f9185c19b9ee91e32a5b3c35930e74b0 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_7.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_7_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 276, + "retrieval_residual_residual_wrong_gripper": 789, + "retrieval_residual_residual_near_miss": 788, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 756, + "retrieval_residual_residual_no_op": 591, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 244 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_7_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_8.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_8.err new file mode 100644 index 0000000000000000000000000000000000000000..8e7507f9b67df1e8a053773f1065f611e633d4f9 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_8.err @@ -0,0 +1,10 @@ +2026-07-02 03:23:47,950 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:49,646 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:54,298 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:23:56,070 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:00,827 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:02,615 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:07,448 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:09,268 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:14,134 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:15,880 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_8.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_8.out new file mode 100644 index 0000000000000000000000000000000000000000..ac9f8e861b456e12809342247adf6edaed11f48d --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_8.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_0_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 279, + "retrieval_residual_residual_wrong_gripper": 757, + "retrieval_residual_residual_near_miss": 794, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 733, + "retrieval_residual_residual_no_op": 556, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 337 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_0_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_9.err b/workspace/outputs/hpc/logs/export_field_targets_15039731_9.err new file mode 100644 index 0000000000000000000000000000000000000000..4ca89544ffbcd366a02519a87b2a534d6636370b --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_9.err @@ -0,0 +1,10 @@ +2026-07-02 03:24:02,527 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:04,325 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:09,284 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:11,196 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:16,257 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:18,161 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:23,299 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:25,216 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:30,418 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 03:24:32,381 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15039731_9.out b/workspace/outputs/hpc/logs/export_field_targets_15039731_9.out new file mode 100644 index 0000000000000000000000000000000000000000..4e9c3ba7ed14d899c27b4576da072901f26c2e3b --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15039731_9.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_1_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 274, + "retrieval_residual_residual_wrong_gripper": 744, + "retrieval_residual_residual_near_miss": 780, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 764, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 333, + "retrieval_residual_residual_no_op": 561 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_1_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_0.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_0.err new file mode 100644 index 0000000000000000000000000000000000000000..89adfc58dffb5e540daeb614383c40914ee1a464 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_0.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:00,989 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:02,705 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:07,365 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:09,107 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:13,765 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:15,512 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:20,144 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:21,892 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:26,568 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:28,277 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_0.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_0.out new file mode 100644 index 0000000000000000000000000000000000000000..8f47308fba3fa0fc4cfb7be15ee306763ef9ec96 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_0.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 288, + "retrieval_residual_residual_wrong_gripper": 811, + "retrieval_residual_residual_near_miss": 853, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 788, + "retrieval_residual_residual_no_op": 708 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_1.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_1.err new file mode 100644 index 0000000000000000000000000000000000000000..c7586bfb56b6cea8ad8d123370dacc20f67b6662 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_1.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:03,951 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:05,608 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:10,271 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:12,049 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:16,690 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:18,392 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:23,048 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:24,789 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:29,478 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:31,177 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_1.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_1.out new file mode 100644 index 0000000000000000000000000000000000000000..cd709f9f7b4d24b66341049069caa26a0a210764 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_1.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 819, + "retrieval_residual_residual_near_miss": 851, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 774, + "retrieval_residual_residual_no_op": 716 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_10.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_10.err new file mode 100644 index 0000000000000000000000000000000000000000..6bc71c6f9a5c245887d3712dfaf36084a4d7f18b --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_10.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:42,933 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:44,754 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:49,784 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:51,747 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:56,629 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:58,410 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:03,261 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:05,041 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:09,843 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:11,612 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_10.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_10.out new file mode 100644 index 0000000000000000000000000000000000000000..95f8e81d7aff3a1d6d026d283692e17c437dc336 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_10.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 286, + "retrieval_residual_residual_wrong_gripper": 807, + "retrieval_residual_residual_near_miss": 851, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 776, + "retrieval_residual_residual_no_op": 716 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_11.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_11.err new file mode 100644 index 0000000000000000000000000000000000000000..4a7de4564b0a1fefafe67454f0d0b2e8f419b596 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_11.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:46,243 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:48,040 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:52,941 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:54,810 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:59,776 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:01,688 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:06,674 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:08,557 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:13,575 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:15,388 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_11.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_11.out new file mode 100644 index 0000000000000000000000000000000000000000..cf255e1e8fe6f03abb6c048c8ad65f65b74916ee --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_11.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 285, + "retrieval_residual_residual_wrong_gripper": 799, + "retrieval_residual_residual_near_miss": 850, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 774, + "retrieval_residual_residual_no_op": 727 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_12.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_12.err new file mode 100644 index 0000000000000000000000000000000000000000..fe4625b2c4400e3eb10fa8124328f66248f3f143 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_12.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:31,972 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:33,703 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:38,317 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:40,080 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:44,779 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:46,526 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:51,194 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:52,970 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:57,705 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:59,450 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_12.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_12.out new file mode 100644 index 0000000000000000000000000000000000000000..2274fe8807a6cefabdd42c5f0af680775e68f350 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_12.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 284, + "retrieval_residual_residual_wrong_gripper": 802, + "retrieval_residual_residual_near_miss": 854, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 782, + "retrieval_residual_residual_no_op": 712 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_13.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_13.err new file mode 100644 index 0000000000000000000000000000000000000000..800498d393f891d60a5674369da87d6150423510 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_13.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:32,057 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:33,751 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:38,433 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:40,194 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:44,843 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:46,583 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:51,270 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:53,042 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:57,823 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:59,573 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_13.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_13.out new file mode 100644 index 0000000000000000000000000000000000000000..b7d76385e5a893d22afe32a494c32200cbe14d54 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_13.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 801, + "retrieval_residual_policy_residual": 284, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 772, + "retrieval_residual_residual_near_miss": 847, + "retrieval_residual_residual_no_op": 728 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_14.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_14.err new file mode 100644 index 0000000000000000000000000000000000000000..6688fca42dfa6a13ec2ecdbbc162942e0cab0dfa --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_14.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:34,401 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:36,125 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:40,863 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:42,707 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:47,465 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:49,234 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:53,987 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:55,762 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:00,573 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:02,322 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_14.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_14.out new file mode 100644 index 0000000000000000000000000000000000000000..7a7025cc99d2efb40390f5592add4d5d83ee122d --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_14.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 802, + "retrieval_residual_policy_residual": 285, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 795, + "retrieval_residual_residual_no_op": 711, + "retrieval_residual_residual_near_miss": 846 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_15.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_15.err new file mode 100644 index 0000000000000000000000000000000000000000..75dc04e8f676838f2d869bdfef650101c29626b0 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_15.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:32,041 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:33,770 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:38,540 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:40,304 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:45,062 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:46,853 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:51,587 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:53,350 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:58,058 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:59,776 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_15.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_15.out new file mode 100644 index 0000000000000000000000000000000000000000..6407be48a4bb66d77bd9486031bcdf74bee614fb --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_15.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 797, + "retrieval_residual_policy_residual": 286, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 781, + "retrieval_residual_residual_near_miss": 851, + "retrieval_residual_residual_no_op": 719 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_16.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_16.err new file mode 100644 index 0000000000000000000000000000000000000000..16063fa85eb783bd1f6e76014ccc9f5ad2386c89 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_16.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:34,717 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:36,420 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:41,163 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:42,942 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:47,810 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:49,594 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:54,399 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:56,183 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:00,961 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:02,729 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_16.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_16.out new file mode 100644 index 0000000000000000000000000000000000000000..06234c98389be6b0e9c66194fbd14bb561489ea0 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_16.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 283, + "retrieval_residual_residual_wrong_gripper": 807, + "retrieval_residual_residual_near_miss": 841, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 775, + "retrieval_residual_residual_no_op": 739 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_17.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_17.err new file mode 100644 index 0000000000000000000000000000000000000000..46749b4a0d9e4107129f9d00abeb9862e5023480 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_17.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:32,772 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:34,523 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:39,305 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:41,057 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:45,733 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:47,474 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:52,197 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:53,947 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:58,723 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:00,477 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_17.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_17.out new file mode 100644 index 0000000000000000000000000000000000000000..6cdbc50de56e7790f1fd79608d6ac48e2fee1daa --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_17.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 282, + "retrieval_residual_residual_wrong_gripper": 820, + "retrieval_residual_residual_near_miss": 843, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 750, + "retrieval_residual_residual_no_op": 752 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_18.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_18.err new file mode 100644 index 0000000000000000000000000000000000000000..40078f127be719462423cb25a49f4f5b92d63c56 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_18.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:34,279 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:36,028 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:40,744 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:42,530 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:47,252 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:49,010 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:53,730 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:55,497 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:00,383 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:02,128 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_18.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_18.out new file mode 100644 index 0000000000000000000000000000000000000000..cf7296e3de462ec3f4bc3d88d8fca91e08a41ebf --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_18.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 282, + "retrieval_residual_residual_wrong_gripper": 798, + "retrieval_residual_residual_near_miss": 844, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 765, + "retrieval_residual_residual_no_op": 744 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_19.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_19.err new file mode 100644 index 0000000000000000000000000000000000000000..45a9be42aca24b2e7b6b1d7c4002c92689854106 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_19.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:35,184 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:36,927 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:41,677 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:43,480 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:48,320 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:50,111 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:54,852 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:56,620 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:01,477 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:03,236 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_19.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_19.out new file mode 100644 index 0000000000000000000000000000000000000000..ba6aeac413e41511d2059db42ec82083c9e3c902 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_19.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 280, + "retrieval_residual_residual_wrong_gripper": 810, + "retrieval_residual_residual_near_miss": 848, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 759, + "retrieval_residual_residual_no_op": 741 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_2.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_2.err new file mode 100644 index 0000000000000000000000000000000000000000..981f653bea66a0b64e851ac625857183ad17674d --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_2.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:04,125 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:05,862 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:10,558 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:12,337 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:17,098 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:18,834 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:23,543 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:25,288 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:30,035 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:31,720 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_2.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_2.out new file mode 100644 index 0000000000000000000000000000000000000000..08dc3507a10b6ad13941d2bc595db3cbf5c156c2 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_2.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 286, + "retrieval_residual_residual_wrong_gripper": 817, + "retrieval_residual_residual_near_miss": 847, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 774, + "retrieval_residual_residual_no_op": 701 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_20.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_20.err new file mode 100644 index 0000000000000000000000000000000000000000..7b40f6682698d9d1ac0b5ee9e29cb0d4a9d59ba5 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_20.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:42,995 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:44,693 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:49,395 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:51,156 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:55,863 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:57,617 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:02,374 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:04,155 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:08,876 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:10,643 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_20.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_20.out new file mode 100644 index 0000000000000000000000000000000000000000..6fa022129cc3bb23e1d98206d7a432aeea5f1c06 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_20.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 284, + "retrieval_residual_residual_wrong_gripper": 792, + "retrieval_residual_residual_near_miss": 851, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 771, + "retrieval_residual_residual_no_op": 738 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_21.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_21.err new file mode 100644 index 0000000000000000000000000000000000000000..9ad2dfc5a0106fc50d507578095a45c21e31d745 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_21.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:35,562 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:37,246 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:41,834 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:43,596 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:48,309 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:50,049 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:54,856 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:56,670 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:01,410 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:03,195 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_21.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_21.out new file mode 100644 index 0000000000000000000000000000000000000000..808933e94ab60744ea42691bfc7ae9fdad72e9a6 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_21.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 283, + "retrieval_residual_residual_wrong_gripper": 810, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 767, + "retrieval_residual_residual_near_miss": 847, + "retrieval_residual_residual_no_op": 729 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_22.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_22.err new file mode 100644 index 0000000000000000000000000000000000000000..bb18de2754883322b2f3d3866b34dc146073588b --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_22.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:42,116 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:43,819 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:48,519 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:50,324 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:54,974 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:56,710 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:01,424 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:03,170 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:07,888 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:09,621 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_22.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_22.out new file mode 100644 index 0000000000000000000000000000000000000000..5d62b88b0933a68dd707db36ee7450b11784cd9f --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_22.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 802, + "retrieval_residual_policy_residual": 279, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 758, + "retrieval_residual_residual_no_op": 748, + "retrieval_residual_residual_near_miss": 841 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_23.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_23.err new file mode 100644 index 0000000000000000000000000000000000000000..2c466cfe3b4794d0b0f916d1af2e040cdbe4ece0 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_23.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:35,956 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:37,674 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:42,406 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:44,215 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:48,911 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:50,693 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:55,520 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:57,291 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:02,036 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:59:03,808 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_23.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_23.out new file mode 100644 index 0000000000000000000000000000000000000000..130173cb57358b5b4d1021aae146cc33680dd562 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_23.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 283, + "retrieval_residual_residual_wrong_gripper": 805, + "retrieval_residual_residual_near_miss": 842, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 764, + "retrieval_residual_residual_no_op": 742 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_3.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_3.err new file mode 100644 index 0000000000000000000000000000000000000000..32c0a0de636e879464bbd831e25c3a08b8de789a --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_3.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:03,889 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:05,575 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:10,223 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:11,962 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:16,614 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:18,416 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:23,201 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:24,958 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:29,735 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:31,475 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_3.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_3.out new file mode 100644 index 0000000000000000000000000000000000000000..c41449117fb0325758eebf46190e620bbe3704e9 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_3.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 285, + "retrieval_residual_residual_wrong_gripper": 806, + "retrieval_residual_residual_near_miss": 853, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 781, + "retrieval_residual_residual_no_op": 710 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_4.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_4.err new file mode 100644 index 0000000000000000000000000000000000000000..8f842012ace436c435a23d3aa1afd036079fd025 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_4.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:07,929 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:09,656 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:14,430 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:16,239 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:21,036 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:22,807 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:27,586 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:29,595 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:34,590 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:36,359 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_4.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_4.out new file mode 100644 index 0000000000000000000000000000000000000000..9fde7149007c3928a8b3f02cdef53a362559e99f --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_4.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 284, + "retrieval_residual_residual_wrong_gripper": 807, + "retrieval_residual_residual_near_miss": 842, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 797, + "retrieval_residual_residual_no_op": 709 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_5.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_5.err new file mode 100644 index 0000000000000000000000000000000000000000..02695ab6e663777e3b289e43e895ff4336f4ac21 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_5.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:03,335 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:05,041 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:09,768 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:11,526 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:16,311 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:18,097 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:22,782 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:24,524 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:29,170 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:30,865 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_5.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_5.out new file mode 100644 index 0000000000000000000000000000000000000000..fedcfd88983f67e69ee06a42d82a9977029fb4e7 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_5.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 815, + "retrieval_residual_policy_residual": 286, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 785, + "retrieval_residual_residual_near_miss": 847, + "retrieval_residual_residual_no_op": 705 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_6.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_6.err new file mode 100644 index 0000000000000000000000000000000000000000..2c20048674950bf01361bed31bb16f1303c18754 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_6.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:07,304 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:09,060 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:13,762 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:15,547 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:20,246 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:22,046 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:26,909 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:28,863 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:33,982 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:35,767 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_6.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_6.out new file mode 100644 index 0000000000000000000000000000000000000000..0f71927d3e2e16ee0fdb130b386fd2d8c048ab2e --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_6.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 284, + "retrieval_residual_residual_wrong_gripper": 812, + "retrieval_residual_residual_near_miss": 843, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 787, + "retrieval_residual_residual_no_op": 709 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_7.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_7.err new file mode 100644 index 0000000000000000000000000000000000000000..4b8827a180cb737e95bb31970dd03fdd9b880431 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_7.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:03,479 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:05,238 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:10,074 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:11,889 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:16,718 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:18,544 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:23,385 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:25,257 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:30,170 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:31,952 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_7.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_7.out new file mode 100644 index 0000000000000000000000000000000000000000..2e7795b73e3c3e246964671e8d13f38e209c81ab --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_7.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 282, + "retrieval_residual_residual_wrong_gripper": 813, + "retrieval_residual_residual_near_miss": 845, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 778, + "retrieval_residual_residual_no_op": 713 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_8.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_8.err new file mode 100644 index 0000000000000000000000000000000000000000..d0c176bd4b25ad3a0b903f0d4feea7ad85ad9090 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_8.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:08,776 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:10,595 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:15,565 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:17,509 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:22,450 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:24,361 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:29,494 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:31,381 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:36,528 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:38,451 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_8.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_8.out new file mode 100644 index 0000000000000000000000000000000000000000..ee0d3fdb7ebe6162a264f87bcca1cca25acb1684 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_8.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 286, + "retrieval_residual_residual_wrong_gripper": 803, + "retrieval_residual_residual_near_miss": 851, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 781, + "retrieval_residual_residual_no_op": 722 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_9.err b/workspace/outputs/hpc/logs/export_field_targets_15041416_9.err new file mode 100644 index 0000000000000000000000000000000000000000..07d4b1a583b0f213b0eac6db92a23b0ff3aba6b0 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_9.err @@ -0,0 +1,10 @@ +2026-07-02 05:58:02,804 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:04,578 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:09,361 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:11,177 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:16,045 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:17,894 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:22,712 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:24,517 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:29,361 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 05:58:31,141 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15041416_9.out b/workspace/outputs/hpc/logs/export_field_targets_15041416_9.out new file mode 100644 index 0000000000000000000000000000000000000000..985721d68dc61cee7c08d54a5d9e87eb134b47ad --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15041416_9.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json +Branches: 12 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 282, + "retrieval_residual_residual_wrong_gripper": 797, + "retrieval_residual_residual_near_miss": 847, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 796, + "retrieval_residual_residual_no_op": 727 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_0.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_0.err new file mode 100644 index 0000000000000000000000000000000000000000..2d78b285001d5d718c72f142f7487386c9602235 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_0.err @@ -0,0 +1,10 @@ +2026-07-02 06:41:50,874 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:41:52,682 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:41:57,376 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:41:59,271 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:03,954 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:05,824 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:10,565 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:12,486 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:17,222 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:19,049 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_0.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_0.out new file mode 100644 index 0000000000000000000000000000000000000000..1e653c3019085003b27b030278fe5f78333db086 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_0.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_0_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 288, + "retrieval_residual_residual_wrong_gripper": 858, + "retrieval_residual_residual_near_miss": 864, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 858, + "retrieval_residual_residual_no_op": 864 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_0_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_1.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_1.err new file mode 100644 index 0000000000000000000000000000000000000000..832275293f097b4021f7a6705ec968b80a4c63ab --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_1.err @@ -0,0 +1,10 @@ +2026-07-02 06:41:52,434 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:41:54,240 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:41:58,881 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:00,814 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:05,570 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:07,444 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:12,330 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:14,247 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:19,086 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:20,894 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_1.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_1.out new file mode 100644 index 0000000000000000000000000000000000000000..3922783957af6ba3f21a42350894be9bada655fa --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_1.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_1_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 288, + "retrieval_residual_residual_wrong_gripper": 856, + "retrieval_residual_residual_near_miss": 864, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 856, + "retrieval_residual_residual_no_op": 864 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_1_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_10.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_10.err new file mode 100644 index 0000000000000000000000000000000000000000..baed92c95038aa25b1576f2092962f4cad390f9c --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_10.err @@ -0,0 +1,10 @@ +2026-07-02 06:45:09,665 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:11,680 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:16,683 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:18,722 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:23,770 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:25,753 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:30,773 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:32,794 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:37,829 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:39,751 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_10.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_10.out new file mode 100644 index 0000000000000000000000000000000000000000..7edd987c0df155ef1a62f40a9c16b99d3b69ad7c --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_10.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_2_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 854, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 854, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_2_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_11.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_11.err new file mode 100644 index 0000000000000000000000000000000000000000..1209b3eea46f01ef5f4e792b5763cf40f72bdce1 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_11.err @@ -0,0 +1,10 @@ +2026-07-02 06:45:02,647 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:04,554 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:09,423 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:11,412 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:16,444 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:18,399 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:23,274 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:25,208 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:30,078 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:32,031 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_11.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_11.out new file mode 100644 index 0000000000000000000000000000000000000000..cb9ba2b93500f7da78e5669e74122619c84e60ba --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_11.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_3_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 853, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 853, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_3_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_12.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_12.err new file mode 100644 index 0000000000000000000000000000000000000000..48c89e9ae4e26082334105b3833fcc464bc09f62 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_12.err @@ -0,0 +1,10 @@ +2026-07-02 06:45:02,898 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:04,746 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:09,451 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:11,347 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:16,218 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:18,117 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:22,950 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:24,859 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:29,675 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:31,564 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_12.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_12.out new file mode 100644 index 0000000000000000000000000000000000000000..f15c6f2bb8e552bb99743aefd21ab45603be6bb2 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_12.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_4_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 853, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 853, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_4_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_13.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_13.err new file mode 100644 index 0000000000000000000000000000000000000000..3f153d6fea3997f5ddf8a0c1ed49a90b2382749b --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_13.err @@ -0,0 +1,10 @@ +2026-07-02 06:45:01,672 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:03,491 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:08,226 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:10,135 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:14,907 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:16,809 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:21,632 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:23,556 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:28,316 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:30,146 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_13.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_13.out new file mode 100644 index 0000000000000000000000000000000000000000..ae258c9dd0dc1beff6f3862b080703c47cdfe0c0 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_13.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_5_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 851, + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 851, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_5_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_14.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_14.err new file mode 100644 index 0000000000000000000000000000000000000000..02589172672af29a3ae67adfac80855bfea75f0f --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_14.err @@ -0,0 +1,10 @@ +2026-07-02 06:45:03,240 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:05,172 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:09,943 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:11,920 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:16,685 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:18,606 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:23,397 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:25,322 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:30,194 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:32,044 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_14.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_14.out new file mode 100644 index 0000000000000000000000000000000000000000..e70beea1c170ba508a70eebcffbb5d74c02075fe --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_14.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_6_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 856, + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 856, + "retrieval_residual_residual_no_op": 861, + "retrieval_residual_residual_near_miss": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_6_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_15.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_15.err new file mode 100644 index 0000000000000000000000000000000000000000..0b648d97c4699a8d1c1f8f262d0b6f152935951e --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_15.err @@ -0,0 +1,10 @@ +2026-07-02 06:45:02,403 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:04,308 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:09,146 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:11,031 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:15,884 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:17,779 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:22,550 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:24,438 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:29,195 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:31,020 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_15.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_15.out new file mode 100644 index 0000000000000000000000000000000000000000..dacdeba45615666ef3e8552496354b400b26c2f9 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_15.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_7_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/6 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 852, + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 852, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_7_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_16.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_16.err new file mode 100644 index 0000000000000000000000000000000000000000..2ad66c406e292c0e135238f3414aeefa148fde0d --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_16.err @@ -0,0 +1,10 @@ +2026-07-02 06:45:04,852 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:06,745 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:11,476 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:13,400 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:18,244 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:20,136 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:24,966 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:26,883 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:31,771 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:33,697 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_16.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_16.out new file mode 100644 index 0000000000000000000000000000000000000000..f8d648978b5249ffbbfc934f706a4993d002ece6 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_16.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_0_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 288, + "retrieval_residual_residual_wrong_gripper": 855, + "retrieval_residual_residual_near_miss": 864, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 855, + "retrieval_residual_residual_no_op": 864 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_0_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_17.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_17.err new file mode 100644 index 0000000000000000000000000000000000000000..d2ecc314d69f1f90101e0b8d129df6db17304bd8 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_17.err @@ -0,0 +1,10 @@ +2026-07-02 06:45:04,164 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:06,051 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:10,864 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:12,781 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:17,554 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:19,444 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:24,234 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:26,133 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:30,957 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:32,827 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_17.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_17.out new file mode 100644 index 0000000000000000000000000000000000000000..31084177b512ebba0684aca89e051c41838edb60 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_17.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_1_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 288, + "retrieval_residual_residual_wrong_gripper": 856, + "retrieval_residual_residual_near_miss": 864, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 856, + "retrieval_residual_residual_no_op": 864 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_1_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_18.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_18.err new file mode 100644 index 0000000000000000000000000000000000000000..0aa1e602fb73a87f6f84889109adb92d02a8824f --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_18.err @@ -0,0 +1,10 @@ +2026-07-02 06:45:03,263 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:05,183 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:09,959 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:11,875 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:16,640 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:18,549 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:23,345 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:25,287 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:30,272 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:32,118 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_18.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_18.out new file mode 100644 index 0000000000000000000000000000000000000000..8f0f0c971a18ff4a53530a9fc0fae8394995a275 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_18.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_2_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 852, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 852, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_2_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_19.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_19.err new file mode 100644 index 0000000000000000000000000000000000000000..6028ff540576178f42df9948118dce513e1d8ab4 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_19.err @@ -0,0 +1,10 @@ +2026-07-02 06:45:04,361 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:06,269 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:11,074 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:13,006 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:17,873 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:19,786 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:24,601 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:26,521 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:31,426 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:45:33,265 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_19.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_19.out new file mode 100644 index 0000000000000000000000000000000000000000..b1f7fc4b8dd1ecc804cc49fa8f67b753d8c02e09 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_19.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_3_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 856, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 856, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_3_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_2.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_2.err new file mode 100644 index 0000000000000000000000000000000000000000..cd8f66d68b8aca8b785517f8dd8b84871f133ae8 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_2.err @@ -0,0 +1,10 @@ +2026-07-02 06:42:04,426 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:06,267 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:11,048 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:12,939 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:17,787 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:19,666 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:24,461 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:26,370 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:31,154 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:32,930 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_2.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_2.out new file mode 100644 index 0000000000000000000000000000000000000000..4b18fc93e6d210f4a188e63b2c61b1ea3e5d83dc --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_2.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 2 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_2_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 845, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 845, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_2_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_20.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_20.err new file mode 100644 index 0000000000000000000000000000000000000000..98e1bd76a43483c2b15287a8d21e0498ccdd7933 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_20.err @@ -0,0 +1,10 @@ +2026-07-02 06:48:07,123 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:08,984 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:13,854 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:15,786 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:20,557 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:22,453 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:27,207 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:29,120 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:33,898 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:35,776 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_20.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_20.out new file mode 100644 index 0000000000000000000000000000000000000000..c2fa9cb348a1b4f6a6079b8e94a826292ab55bb6 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_20.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_4_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 855, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 855, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_4_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_21.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_21.err new file mode 100644 index 0000000000000000000000000000000000000000..ca5ecaa14ac40161be25afd1e47438b929e1f485 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_21.err @@ -0,0 +1,10 @@ +2026-07-02 06:48:09,524 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:11,379 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:16,180 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:18,161 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:22,964 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:24,914 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:29,849 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:31,819 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:36,755 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:38,627 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_21.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_21.out new file mode 100644 index 0000000000000000000000000000000000000000..048f48f8e51a35814a18ec733d6fb0ab12ea1398 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_21.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_5_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 854, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 854, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_5_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_22.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_22.err new file mode 100644 index 0000000000000000000000000000000000000000..761616ca12b76b5b1b9b23b747bca67fcb3e979b --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_22.err @@ -0,0 +1,10 @@ +2026-07-02 06:48:01,939 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:03,755 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:08,390 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:10,277 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:15,039 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:16,916 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:21,745 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:23,688 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:28,559 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:30,421 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_22.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_22.out new file mode 100644 index 0000000000000000000000000000000000000000..70594a1a7059b5af644ab1577b358f79eb8fc190 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_22.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_6_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 848, + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 848, + "retrieval_residual_residual_no_op": 861, + "retrieval_residual_residual_near_miss": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_6_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_23.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_23.err new file mode 100644 index 0000000000000000000000000000000000000000..29067c738f3fb29fc299c9aaf2a3a5bb0a33e71d --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_23.err @@ -0,0 +1,10 @@ +2026-07-02 06:48:05,216 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:07,043 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:11,731 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:13,640 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:18,377 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:20,292 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:25,235 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:27,166 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:31,933 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:48:33,791 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_23.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_23.out new file mode 100644 index 0000000000000000000000000000000000000000..2c461256e20ce4ad7686063afbcb6aa1a8077f01 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_23.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 2 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_7_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 854, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 854, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_7_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_3.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_3.err new file mode 100644 index 0000000000000000000000000000000000000000..2c4c31ad32fc768ea874f0ca772da68b9512c962 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_3.err @@ -0,0 +1,10 @@ +2026-07-02 06:42:05,074 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:06,948 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:11,689 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:13,616 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:18,342 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:20,230 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:24,973 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:26,865 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:31,666 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:33,464 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_3.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_3.out new file mode 100644 index 0000000000000000000000000000000000000000..fab82bfafdbc151391d3d4f0f95006a1cc8f9425 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_3.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 3 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_3_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 853, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 853, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_3_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_4.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_4.err new file mode 100644 index 0000000000000000000000000000000000000000..8e65cfabef37632bf06d20eac222ed477726f69b --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_4.err @@ -0,0 +1,10 @@ +2026-07-02 06:42:08,513 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:10,352 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:15,074 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:16,994 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:21,822 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:23,766 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:28,956 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:30,939 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:35,877 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:37,746 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_4.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_4.out new file mode 100644 index 0000000000000000000000000000000000000000..9bfe65a9ad74418bfeacb6ff189f443bc329558e --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_4.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 4 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_4_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 857, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 857, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_4_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_5.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_5.err new file mode 100644 index 0000000000000000000000000000000000000000..56d0da948e1091aa5e7bad4f104ad079e6320fff --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_5.err @@ -0,0 +1,10 @@ +2026-07-02 06:42:03,174 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:05,045 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:09,828 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:11,737 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:16,643 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:18,525 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:23,277 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:25,153 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:29,901 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:31,699 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_5.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_5.out new file mode 100644 index 0000000000000000000000000000000000000000..c963069fd4a614d4ac8279234962e65d8feea0d5 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_5.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 5 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_5_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_residual_wrong_gripper": 856, + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 856, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_5_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_6.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_6.err new file mode 100644 index 0000000000000000000000000000000000000000..0e71b0df77be5586533270ad4b1299fd60c65120 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_6.err @@ -0,0 +1,10 @@ +2026-07-02 06:42:08,299 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:10,156 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:14,915 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:16,883 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:21,746 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:23,694 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:28,952 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:30,927 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:35,920 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:37,756 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_6.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_6.out new file mode 100644 index 0000000000000000000000000000000000000000..6070672bd0c177f650e03ed377a8a80966227471 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_6.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 6 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_6_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 854, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 854, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_6_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_7.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_7.err new file mode 100644 index 0000000000000000000000000000000000000000..e67e813bf3c511eb88f6de9543b4e271591842bc --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_7.err @@ -0,0 +1,10 @@ +2026-07-02 06:41:53,323 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:41:55,224 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:41:59,975 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:01,933 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:06,664 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:08,580 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:13,476 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:15,397 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:20,290 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:22,166 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_7.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_7.out new file mode 100644 index 0000000000000000000000000000000000000000..172e87704f3e21530b223952654a4d29dde15d9e --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_7.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 0 +Shard: 7 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_7_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 287, + "retrieval_residual_residual_wrong_gripper": 850, + "retrieval_residual_residual_near_miss": 861, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 850, + "retrieval_residual_residual_no_op": 861 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_7_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_8.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_8.err new file mode 100644 index 0000000000000000000000000000000000000000..3fde1409185d6796b7000d86a48398474e5a50fc --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_8.err @@ -0,0 +1,10 @@ +2026-07-02 06:42:05,024 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:07,025 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:12,102 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:14,111 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:19,208 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:21,304 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:26,564 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:28,586 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:33,619 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:35,599 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_8.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_8.out new file mode 100644 index 0000000000000000000000000000000000000000..d07da70e23863f8d50e58447d93c906a33f4e9f3 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_8.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 0 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_0_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 288, + "retrieval_residual_residual_wrong_gripper": 853, + "retrieval_residual_residual_near_miss": 864, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 853, + "retrieval_residual_residual_no_op": 864 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_0_of_8.json diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_9.err b/workspace/outputs/hpc/logs/export_field_targets_15045641_9.err new file mode 100644 index 0000000000000000000000000000000000000000..5d2ede2b6568502141b32f660b749852f48d5ff7 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_9.err @@ -0,0 +1,10 @@ +2026-07-02 06:41:54,827 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:41:56,685 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:01,435 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:03,388 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:08,270 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:10,238 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:15,163 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:17,105 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:22,104 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-07-02 06:42:24,005 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/export_field_targets_15045641_9.out b/workspace/outputs/hpc/logs/export_field_targets_15045641_9.out new file mode 100644 index 0000000000000000000000000000000000000000..0641790ee8e66085e1b8b5c2c576b1340a94bbbd --- /dev/null +++ b/workspace/outputs/hpc/logs/export_field_targets_15045641_9.out @@ -0,0 +1,87 @@ +================================================== +Export transported residual field targets +Seed: 1 +Shard: 1 / 8 +Checkpoint: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt +Dataset: /scratch/knguy52/dovla/experiments/six_task_h16_collection +Split dataset: /scratch/knguy52/dovla/experiments/h16_merged_dataset +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_1_of_8.json +Branches: 24 +Retrieval: k=6 metric=raw reduce=compose_mean_by_type +Scales: 0.35,0.4,0.45 +Exclude: residual_random_negative,residual_wrong_direction,residual_near_miss+residual_no_op,residual_no_op+residual_wrong_gripper +Bonuses: +================================================== +task=LiftPegUpright-v1 batch=1/7 groups=8 +task=PickCube-v1 batch=1/13 groups=8 +task=PickCube-v1 batch=10/13 groups=8 +task=PullCube-v1 batch=1/5 groups=8 +task=PushCube-v1 batch=1/7 groups=8 +task=StackCube-v1 batch=1/7 groups=8 +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 288, + "retrieval_residual_residual_wrong_gripper": 857, + "retrieval_residual_residual_near_miss": 864, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 857, + "retrieval_residual_residual_no_op": 864 + }, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_1_of_8.json diff --git a/workspace/outputs/hpc/logs/export_resid_targets_14862441.err b/workspace/outputs/hpc/logs/export_resid_targets_14862441.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/export_resid_targets_14862441.out b/workspace/outputs/hpc/logs/export_resid_targets_14862441.out new file mode 100644 index 0000000000000000000000000000000000000000..fac31af2701493fa435a7f8fdeddcf79a8a82b64 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_resid_targets_14862441.out @@ -0,0 +1,30 @@ +{ + "target_type": "retrieval_residual_action_values", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "all", + "train_bank_groups": 2298, + "num_groups": 2873, + "num_targets": 2873, + "num_skipped": 0, + "retrieval_neighbors": 1, + "retrieval_metric": "raw", + "retrieval_residual_scale": 0.35, + "excluded_candidate_types": [ + "residual_random_negative" + ], + "leave_one_out": true, + "clip_actions": true, + "clip_action_low": -1.0, + "clip_action_high": 1.0, + "selected_candidate_type_counts": { + "policy_residual": 1705, + "residual_wrong_gripper": 413, + "residual_wrong_direction": 34, + "residual_near_miss": 108, + "residual_no_op": 613 + }, + "num_source_groups_used": 1683, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/targets/retrieval_residual_scale0p35_safe_types_teacher_seed2_allmap.json diff --git a/workspace/outputs/hpc/logs/export_resid_targets_14862455.err b/workspace/outputs/hpc/logs/export_resid_targets_14862455.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/export_resid_targets_14862455.out b/workspace/outputs/hpc/logs/export_resid_targets_14862455.out new file mode 100644 index 0000000000000000000000000000000000000000..0e2b66c6b24d9046e433f37bed45a48bd9058aa6 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_resid_targets_14862455.out @@ -0,0 +1,30 @@ +{ + "target_type": "retrieval_residual_action_values", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "all", + "train_bank_groups": 2298, + "num_groups": 2873, + "num_targets": 2873, + "num_skipped": 0, + "retrieval_neighbors": 1, + "retrieval_metric": "raw", + "retrieval_residual_scale": 0.35, + "excluded_candidate_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "leave_one_out": true, + "clip_actions": true, + "clip_action_low": -1.0, + "clip_action_high": 1.0, + "selected_candidate_type_counts": { + "policy_residual": 1788, + "residual_wrong_gripper": 439, + "residual_no_op": 646 + }, + "num_source_groups_used": 1683, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/targets/retrieval_residual_scale0p35_safe_types_teacher_seed2_allmap_v2.json diff --git a/workspace/outputs/hpc/logs/export_resid_targets_15034844.err b/workspace/outputs/hpc/logs/export_resid_targets_15034844.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/export_resid_targets_15034844.out b/workspace/outputs/hpc/logs/export_resid_targets_15034844.out new file mode 100644 index 0000000000000000000000000000000000000000..be21e704f9cdff0e61097b36c9e04044cebee74a --- /dev/null +++ b/workspace/outputs/hpc/logs/export_resid_targets_15034844.out @@ -0,0 +1,54 @@ +{ + "target_type": "retrieval_residual_action_values", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "train_bank_groups": 2298, + "num_groups": 2298, + "num_targets": 2298, + "num_skipped": 0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_reduce": "compose_mean_by_type", + "selection_margin": 0.2, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "leave_one_out": true, + "clip_actions": true, + "clip_action_low": -1.0, + "clip_action_high": 1.0, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 2045, + "retrieval_residual_residual_near_miss": 111, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 52, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 9, + "retrieval_residual_residual_wrong_gripper": 10, + "retrieval_residual_residual_no_op": 71 + }, + "num_source_groups_used": 2189, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/retrieval_residual_teacher_targets_k4compose_nmchallenger/seed_0/train_targets.json diff --git a/workspace/outputs/hpc/logs/export_resid_targets_15034845.err b/workspace/outputs/hpc/logs/export_resid_targets_15034845.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/export_resid_targets_15034845.out b/workspace/outputs/hpc/logs/export_resid_targets_15034845.out new file mode 100644 index 0000000000000000000000000000000000000000..3d18ac647e61b9cec7105f0f69b3b8db98ab97d2 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_resid_targets_15034845.out @@ -0,0 +1,54 @@ +{ + "target_type": "retrieval_residual_action_values", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "train_bank_groups": 2298, + "num_groups": 2298, + "num_targets": 2298, + "num_skipped": 0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_reduce": "compose_mean_by_type", + "selection_margin": 0.2, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "leave_one_out": true, + "clip_actions": true, + "clip_action_low": -1.0, + "clip_action_high": 1.0, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 2019, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 15, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 38, + "retrieval_residual_residual_wrong_gripper": 11, + "retrieval_residual_residual_near_miss": 128, + "retrieval_residual_residual_no_op": 87 + }, + "num_source_groups_used": 2202, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/retrieval_residual_teacher_targets_k4compose_nmchallenger/seed_1/train_targets.json diff --git a/workspace/outputs/hpc/logs/export_resid_targets_15034846.err b/workspace/outputs/hpc/logs/export_resid_targets_15034846.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/export_resid_targets_15034846.out b/workspace/outputs/hpc/logs/export_resid_targets_15034846.out new file mode 100644 index 0000000000000000000000000000000000000000..78cda16d3fd2afff3be28bb07047f80d771f6803 --- /dev/null +++ b/workspace/outputs/hpc/logs/export_resid_targets_15034846.out @@ -0,0 +1,54 @@ +{ + "target_type": "retrieval_residual_action_values", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "train_bank_groups": 2298, + "num_groups": 2298, + "num_targets": 2298, + "num_skipped": 0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_reduce": "compose_mean_by_type", + "selection_margin": 0.2, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "leave_one_out": true, + "clip_actions": true, + "clip_action_low": -1.0, + "clip_action_high": 1.0, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 2022, + "retrieval_residual_residual_wrong_gripper": 31, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 53, + "retrieval_residual_residual_no_op": 58, + "retrieval_residual_residual_near_miss": 132, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2 + }, + "num_source_groups_used": 2190, + "skipped": {} +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/retrieval_residual_teacher_targets_k4compose_nmchallenger/seed_2/train_targets.json diff --git a/workspace/outputs/hpc/logs/hf_push_vla_15049666.err b/workspace/outputs/hpc/logs/hf_push_vla_15049666.err new file mode 100644 index 0000000000000000000000000000000000000000..689ef862e3b0e1ae051b53a76847eb628100bbc8 --- /dev/null +++ b/workspace/outputs/hpc/logs/hf_push_vla_15049666.err @@ -0,0 +1 @@ +[2026-07-02T13:31:27.822] error: *** JOB 15049666 ON rc32607 CANCELLED AT 2026-07-02T13:31:27 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/hf_push_vla_15049666.out b/workspace/outputs/hpc/logs/hf_push_vla_15049666.out new file mode 100644 index 0000000000000000000000000000000000000000..86a30b1357bd76c861a8997ae86a175c92388147 --- /dev/null +++ b/workspace/outputs/hpc/logs/hf_push_vla_15049666.out @@ -0,0 +1 @@ +[2026-07-02T13:30:01Z] starting Hugging Face sync daemon; interval=900s repo=anhtld/vla diff --git a/workspace/outputs/hpc/logs/hf_push_vla_15049682.err b/workspace/outputs/hpc/logs/hf_push_vla_15049682.err new file mode 100644 index 0000000000000000000000000000000000000000..6b59de7fdc0304d248703fd840dfcd416b98bb28 --- /dev/null +++ b/workspace/outputs/hpc/logs/hf_push_vla_15049682.err @@ -0,0 +1 @@ +[2026-07-02T13:33:48.899] error: *** JOB 15049682 ON rc32607 CANCELLED AT 2026-07-02T13:33:48 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/hf_push_vla_15049682.out b/workspace/outputs/hpc/logs/hf_push_vla_15049682.out new file mode 100644 index 0000000000000000000000000000000000000000..fe87a250623688589cef86db401a19f5a0b6525b --- /dev/null +++ b/workspace/outputs/hpc/logs/hf_push_vla_15049682.out @@ -0,0 +1,4 @@ +[2026-07-02T13:31:34Z] starting Hugging Face sync daemon; interval=900s repo=anhtld/vla +[2026-07-02T13:31:34Z] checking Hugging Face auth +[2026-07-02T13:32:34Z] ERROR: Hugging Face auth is not active. Run 'hf auth login' or export HF_TOKEN before syncing. +[2026-07-02T13:32:34Z] sync cycle failed with status=2 diff --git a/workspace/outputs/hpc/logs/hf_push_vla_15049707.err b/workspace/outputs/hpc/logs/hf_push_vla_15049707.err new file mode 100644 index 0000000000000000000000000000000000000000..d23bf5c419b51f5660092c7f6002cae6867e1ac6 --- /dev/null +++ b/workspace/outputs/hpc/logs/hf_push_vla_15049707.err @@ -0,0 +1 @@ +[2026-07-02T13:36:07.804] error: *** JOB 15049707 ON rc32607 CANCELLED AT 2026-07-02T13:36:07 DUE to SIGNAL Terminated *** diff --git a/workspace/outputs/hpc/logs/hf_push_vla_15049707.out b/workspace/outputs/hpc/logs/hf_push_vla_15049707.out new file mode 100644 index 0000000000000000000000000000000000000000..aa679b0394851e773afe47ffdda896968c246bbe --- /dev/null +++ b/workspace/outputs/hpc/logs/hf_push_vla_15049707.out @@ -0,0 +1,4 @@ +[2026-07-02T13:33:55Z] starting Hugging Face sync daemon; interval=900s repo=anhtld/vla +[2026-07-02T13:33:55Z] checking Hugging Face auth +[2026-07-02T13:34:55Z] ERROR: Hugging Face auth is not active. Run 'hf auth login' or export HF_TOKEN before syncing. +[2026-07-02T13:34:55Z] sync cycle failed with status=2 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15037007_0.err b/workspace/outputs/hpc/logs/merge_field_targets_15037007_0.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15037007_0.out b/workspace/outputs/hpc/logs/merge_field_targets_15037007_0.out new file mode 100644 index 0000000000000000000000000000000000000000..039e805ce72a990dfac94d824aa4c4065e626588 --- /dev/null +++ b/workspace/outputs/hpc/logs/merge_field_targets_15037007_0.out @@ -0,0 +1,155 @@ +================================================== +Merge transported residual field target shards +Seed: 0 +Input glob: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_*_of_8.json +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2.json +Expected shards: 8 +================================================== +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 2298, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 2207, + "retrieval_residual_residual_wrong_gripper": 4682, + "retrieval_residual_residual_near_miss": 5178, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2413, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 1055, + "retrieval_residual_residual_no_op": 2849 + }, + "skipped": {}, + "merged_from_shards": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_0_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_1_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_2_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_3_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_4_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_5_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_6_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_7_of_8.json" + ], + "shard_summaries": [ + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_0_of_8.json", + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_1_of_8.json", + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_2_of_8.json", + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_3_of_8.json", + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_4_of_8.json", + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_5_of_8.json", + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_6_of_8.json", + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_7_of_8.json", + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + } + ], + "num_shards": 8 +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2.json diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15037007_1.err b/workspace/outputs/hpc/logs/merge_field_targets_15037007_1.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15037007_1.out b/workspace/outputs/hpc/logs/merge_field_targets_15037007_1.out new file mode 100644 index 0000000000000000000000000000000000000000..dbba4c4a565eda51fa7035c9e6e1361008d540b5 --- /dev/null +++ b/workspace/outputs/hpc/logs/merge_field_targets_15037007_1.out @@ -0,0 +1,155 @@ +================================================== +Merge transported residual field target shards +Seed: 1 +Input glob: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_*_of_8.json +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2.json +Expected shards: 8 +================================================== +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 2298, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 2173, + "retrieval_residual_residual_wrong_gripper": 4482, + "retrieval_residual_residual_near_miss": 4879, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2538, + "retrieval_residual_residual_no_op": 3167, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 1145 + }, + "skipped": {}, + "merged_from_shards": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_0_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_1_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_2_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_3_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_4_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_5_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_6_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_7_of_8.json" + ], + "shard_summaries": [ + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_0_of_8.json", + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_1_of_8.json", + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_2_of_8.json", + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_3_of_8.json", + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_4_of_8.json", + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_5_of_8.json", + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_6_of_8.json", + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_7_of_8.json", + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + } + ], + "num_shards": 8 +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2.json diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15037007_2.err b/workspace/outputs/hpc/logs/merge_field_targets_15037007_2.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15037007_2.out b/workspace/outputs/hpc/logs/merge_field_targets_15037007_2.out new file mode 100644 index 0000000000000000000000000000000000000000..aab0c1699a85121f115056c84e1509e78f8840a7 --- /dev/null +++ b/workspace/outputs/hpc/logs/merge_field_targets_15037007_2.out @@ -0,0 +1,155 @@ +================================================== +Merge transported residual field target shards +Seed: 2 +Input glob: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_*_of_8.json +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2.json +Expected shards: 8 +================================================== +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 2298, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 8, + "group_batch_size": 8, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [ + "residual_near_miss" + ], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.01, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.2, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 2152, + "retrieval_residual_residual_wrong_gripper": 4597, + "retrieval_residual_residual_near_miss": 5054, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2192, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 1241, + "retrieval_residual_residual_no_op": 3148 + }, + "skipped": {}, + "merged_from_shards": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_0_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_1_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_2_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_3_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_4_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_5_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_6_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_7_of_8.json" + ], + "shard_summaries": [ + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_0_of_8.json", + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_1_of_8.json", + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_2_of_8.json", + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_3_of_8.json", + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_4_of_8.json", + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_5_of_8.json", + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_6_of_8.json", + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2_shard_7_of_8.json", + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + } + ], + "num_shards": 8 +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/transport_field_targets_k4compose_dropnmnoop_grid035040045_margin0p20_noopbonus0p03_nmchallenger0p01_b8_sharded8_v2.json diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15039739_0.err b/workspace/outputs/hpc/logs/merge_field_targets_15039739_0.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15039739_0.out b/workspace/outputs/hpc/logs/merge_field_targets_15039739_0.out new file mode 100644 index 0000000000000000000000000000000000000000..ce75864d05633bba2914ff5f3d5defe6e0bd87f6 --- /dev/null +++ b/workspace/outputs/hpc/logs/merge_field_targets_15039739_0.out @@ -0,0 +1,151 @@ +================================================== +Merge transported residual field target shards +Seed: 0 +Input glob: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_*_of_8.json +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2.json +Expected shards: 8 +================================================== +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 2298, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 2256, + "retrieval_residual_residual_wrong_gripper": 6319, + "retrieval_residual_residual_near_miss": 6368, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 6069, + "retrieval_residual_residual_no_op": 4581, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 1981 + }, + "skipped": {}, + "merged_from_shards": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_0_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_1_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_2_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_3_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_4_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_5_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_6_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_7_of_8.json" + ], + "shard_summaries": [ + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_0_of_8.json", + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_1_of_8.json", + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_2_of_8.json", + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_3_of_8.json", + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_4_of_8.json", + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_5_of_8.json", + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_6_of_8.json", + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_7_of_8.json", + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + } + ], + "num_shards": 8 +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2.json diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15039739_1.err b/workspace/outputs/hpc/logs/merge_field_targets_15039739_1.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15039739_1.out b/workspace/outputs/hpc/logs/merge_field_targets_15039739_1.out new file mode 100644 index 0000000000000000000000000000000000000000..d2f9469cb1847101186739d6772080e4f5aa7e1c --- /dev/null +++ b/workspace/outputs/hpc/logs/merge_field_targets_15039739_1.out @@ -0,0 +1,151 @@ +================================================== +Merge transported residual field target shards +Seed: 1 +Input glob: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_*_of_8.json +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2.json +Expected shards: 8 +================================================== +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 2298, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 2228, + "retrieval_residual_residual_wrong_gripper": 6042, + "retrieval_residual_residual_near_miss": 6395, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 5911, + "retrieval_residual_residual_no_op": 4449, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 2549 + }, + "skipped": {}, + "merged_from_shards": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_0_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_1_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_2_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_3_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_4_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_5_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_6_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_7_of_8.json" + ], + "shard_summaries": [ + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_0_of_8.json", + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_1_of_8.json", + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_2_of_8.json", + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_3_of_8.json", + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_4_of_8.json", + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_5_of_8.json", + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_6_of_8.json", + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_7_of_8.json", + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + } + ], + "num_shards": 8 +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2.json diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15039739_2.err b/workspace/outputs/hpc/logs/merge_field_targets_15039739_2.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15039739_2.out b/workspace/outputs/hpc/logs/merge_field_targets_15039739_2.out new file mode 100644 index 0000000000000000000000000000000000000000..1e04ad79f338bcfa4a82b2277e0b877b02ee4c6e --- /dev/null +++ b/workspace/outputs/hpc/logs/merge_field_targets_15039739_2.out @@ -0,0 +1,151 @@ +================================================== +Merge transported residual field target shards +Seed: 2 +Input glob: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_*_of_8.json +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2.json +Expected shards: 8 +================================================== +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 2298, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 2181, + "retrieval_residual_residual_wrong_gripper": 6057, + "retrieval_residual_residual_near_miss": 6359, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 5755, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 2348, + "retrieval_residual_residual_no_op": 4874 + }, + "skipped": {}, + "merged_from_shards": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_0_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_1_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_2_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_3_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_4_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_5_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_6_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_7_of_8.json" + ], + "shard_summaries": [ + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_0_of_8.json", + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_1_of_8.json", + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_2_of_8.json", + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_3_of_8.json", + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_4_of_8.json", + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_5_of_8.json", + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_6_of_8.json", + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2_shard_7_of_8.json", + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + } + ], + "num_shards": 8 +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/transport_field_targets_k6compose_dropnmnoop_grid035040045_margin0p00_clean_b12_sharded8_v2.json diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15041421_0.err b/workspace/outputs/hpc/logs/merge_field_targets_15041421_0.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15041421_0.out b/workspace/outputs/hpc/logs/merge_field_targets_15041421_0.out new file mode 100644 index 0000000000000000000000000000000000000000..4c78c59a001452bfa3b089ca265a14904318cd5d --- /dev/null +++ b/workspace/outputs/hpc/logs/merge_field_targets_15041421_0.out @@ -0,0 +1,151 @@ +================================================== +Merge transported residual field target shards +Seed: 0 +Input glob: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_*_of_8.json +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1.json +Expected shards: 8 +================================================== +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 2298, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 2282, + "retrieval_residual_residual_wrong_gripper": 6500, + "retrieval_residual_residual_near_miss": 6781, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 6264, + "retrieval_residual_residual_no_op": 5671 + }, + "skipped": {}, + "merged_from_shards": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json" + ], + "shard_summaries": [ + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json", + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json", + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json", + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json", + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json", + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json", + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json", + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json", + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + } + ], + "num_shards": 8 +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1.json diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15041421_1.err b/workspace/outputs/hpc/logs/merge_field_targets_15041421_1.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15041421_1.out b/workspace/outputs/hpc/logs/merge_field_targets_15041421_1.out new file mode 100644 index 0000000000000000000000000000000000000000..b995ea61cbf358fdbeeb4c9ffd2a51b68ac3f122 --- /dev/null +++ b/workspace/outputs/hpc/logs/merge_field_targets_15041421_1.out @@ -0,0 +1,151 @@ +================================================== +Merge transported residual field target shards +Seed: 1 +Input glob: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_*_of_8.json +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1.json +Expected shards: 8 +================================================== +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 2298, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 2278, + "retrieval_residual_residual_wrong_gripper": 6408, + "retrieval_residual_residual_near_miss": 6797, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 6257, + "retrieval_residual_residual_no_op": 5762 + }, + "skipped": {}, + "merged_from_shards": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json" + ], + "shard_summaries": [ + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json", + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json", + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json", + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json", + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json", + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json", + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json", + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json", + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + } + ], + "num_shards": 8 +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1.json diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15041421_2.err b/workspace/outputs/hpc/logs/merge_field_targets_15041421_2.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15041421_2.out b/workspace/outputs/hpc/logs/merge_field_targets_15041421_2.out new file mode 100644 index 0000000000000000000000000000000000000000..2b7c7b860ce24d44479705adc7b9b61d7f3d42cd --- /dev/null +++ b/workspace/outputs/hpc/logs/merge_field_targets_15041421_2.out @@ -0,0 +1,151 @@ +================================================== +Merge transported residual field target shards +Seed: 2 +Input glob: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_*_of_8.json +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1.json +Expected shards: 8 +================================================== +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 2298, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 12, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 2256, + "retrieval_residual_residual_wrong_gripper": 6444, + "retrieval_residual_residual_near_miss": 6757, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 6109, + "retrieval_residual_residual_no_op": 5933 + }, + "skipped": {}, + "merged_from_shards": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json" + ], + "shard_summaries": [ + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_0_of_8.json", + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_1_of_8.json", + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_2_of_8.json", + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_3_of_8.json", + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_4_of_8.json", + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_5_of_8.json", + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_6_of_8.json", + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1_shard_7_of_8.json", + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + } + ], + "num_shards": 8 +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1.json diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15045662_0.err b/workspace/outputs/hpc/logs/merge_field_targets_15045662_0.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15045662_0.out b/workspace/outputs/hpc/logs/merge_field_targets_15045662_0.out new file mode 100644 index 0000000000000000000000000000000000000000..fef3af1ac08d392d5fc0e9040277bb43a24f7511 --- /dev/null +++ b/workspace/outputs/hpc/logs/merge_field_targets_15045662_0.out @@ -0,0 +1,151 @@ +================================================== +Merge transported residual field target shards +Seed: 0 +Input glob: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_*_of_8.json +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1.json +Expected shards: 8 +================================================== +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 2298, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 2298, + "retrieval_residual_residual_wrong_gripper": 6829, + "retrieval_residual_residual_near_miss": 6894, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 6829, + "retrieval_residual_residual_no_op": 6894 + }, + "skipped": {}, + "merged_from_shards": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_0_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_1_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_2_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_3_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_4_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_5_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_6_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_7_of_8.json" + ], + "shard_summaries": [ + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_0_of_8.json", + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_1_of_8.json", + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_2_of_8.json", + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_3_of_8.json", + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_4_of_8.json", + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_5_of_8.json", + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_6_of_8.json", + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_7_of_8.json", + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + } + ], + "num_shards": 8 +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1.json diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15045662_1.err b/workspace/outputs/hpc/logs/merge_field_targets_15045662_1.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15045662_1.out b/workspace/outputs/hpc/logs/merge_field_targets_15045662_1.out new file mode 100644 index 0000000000000000000000000000000000000000..abd2b2686c47f1ceb9de67653b6a6935606734b1 --- /dev/null +++ b/workspace/outputs/hpc/logs/merge_field_targets_15045662_1.out @@ -0,0 +1,151 @@ +================================================== +Merge transported residual field target shards +Seed: 1 +Input glob: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_*_of_8.json +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1.json +Expected shards: 8 +================================================== +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 2298, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 2298, + "retrieval_residual_residual_wrong_gripper": 6829, + "retrieval_residual_residual_near_miss": 6894, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 6829, + "retrieval_residual_residual_no_op": 6894 + }, + "skipped": {}, + "merged_from_shards": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_0_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_1_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_2_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_3_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_4_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_5_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_6_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_7_of_8.json" + ], + "shard_summaries": [ + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_0_of_8.json", + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_1_of_8.json", + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_2_of_8.json", + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_3_of_8.json", + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_4_of_8.json", + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_5_of_8.json", + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_6_of_8.json", + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_7_of_8.json", + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + } + ], + "num_shards": 8 +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1.json diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15045662_2.err b/workspace/outputs/hpc/logs/merge_field_targets_15045662_2.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/merge_field_targets_15045662_2.out b/workspace/outputs/hpc/logs/merge_field_targets_15045662_2.out new file mode 100644 index 0000000000000000000000000000000000000000..3c64e9d3eb55e03349d4df74a8cd3264045724a1 --- /dev/null +++ b/workspace/outputs/hpc/logs/merge_field_targets_15045662_2.out @@ -0,0 +1,151 @@ +================================================== +Merge transported residual field target shards +Seed: 2 +Input glob: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_*_of_8.json +Out: /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1.json +Expected shards: 8 +================================================== +{ + "target_type": "transported_residual_field_targets", + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split_dataset": "/scratch/knguy52/dovla/experiments/h16_merged_dataset", + "split": "train", + "num_split_groups": 2298, + "num_dataset_matched_groups": 2298, + "group_shard_count": 8, + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 2298, + "num_skipped": 0, + "train_bank_groups": 2298, + "branches": 24, + "group_batch_size": 8, + "retrieval_neighbors": 6, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_scale": 0.35, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_challenger_types": [], + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_tasks": {}, + "selection_margin": 0.0, + "num_candidates": 1, + "candidate_sigma": 0.0, + "candidate_unique_tolerance": 1e-06, + "excluded_candidate_types": [ + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "candidate_type_bonus_components": false, + "allow_self_source": false, + "measured_candidate_type_counts": { + "retrieval_residual_policy_residual": 2298, + "retrieval_residual_residual_wrong_gripper": 6830, + "retrieval_residual_residual_near_miss": 6894, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 6830, + "retrieval_residual_residual_no_op": 6894 + }, + "skipped": {}, + "merged_from_shards": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_0_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_1_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_2_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_3_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_4_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_5_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_6_of_8.json", + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_7_of_8.json" + ], + "shard_summaries": [ + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_0_of_8.json", + "group_shard_index": 0, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_1_of_8.json", + "group_shard_index": 1, + "num_shard_groups": 288, + "num_prepared_cases": 288, + "num_targets": 288, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_2_of_8.json", + "group_shard_index": 2, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_3_of_8.json", + "group_shard_index": 3, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_4_of_8.json", + "group_shard_index": 4, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_5_of_8.json", + "group_shard_index": 5, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_6_of_8.json", + "group_shard_index": 6, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + }, + { + "path": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/shards/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1_shard_7_of_8.json", + "group_shard_index": 7, + "num_shard_groups": 287, + "num_prepared_cases": 287, + "num_targets": 287, + "num_skipped": 0 + } + ], + "num_shards": 8 +} +Wrote /scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b24_sharded8_v1.json diff --git a/workspace/outputs/hpc/logs/paper_compmask_14911984.err b/workspace/outputs/hpc/logs/paper_compmask_14911984.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/paper_compmask_14911984.out b/workspace/outputs/hpc/logs/paper_compmask_14911984.out new file mode 100644 index 0000000000000000000000000000000000000000..af5f760ae1b1f3686a27f0f633c225042d6d2fd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/paper_compmask_14911984.out @@ -0,0 +1,4 @@ +Wrote results/paper_table_status.json +Wrote results/paper_table_status.md +Wrote results/paper_analysis.json +Wrote results/paper_analysis.md diff --git a/workspace/outputs/hpc/logs/paper_compose_14907080.err b/workspace/outputs/hpc/logs/paper_compose_14907080.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/paper_compose_14907080.out b/workspace/outputs/hpc/logs/paper_compose_14907080.out new file mode 100644 index 0000000000000000000000000000000000000000..af5f760ae1b1f3686a27f0f633c225042d6d2fd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/paper_compose_14907080.out @@ -0,0 +1,4 @@ +Wrote results/paper_table_status.json +Wrote results/paper_table_status.md +Wrote results/paper_analysis.json +Wrote results/paper_analysis.md diff --git a/workspace/outputs/hpc/logs/paper_consensus_14903392.err b/workspace/outputs/hpc/logs/paper_consensus_14903392.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/paper_consensus_14903392.out b/workspace/outputs/hpc/logs/paper_consensus_14903392.out new file mode 100644 index 0000000000000000000000000000000000000000..af5f760ae1b1f3686a27f0f633c225042d6d2fd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/paper_consensus_14903392.out @@ -0,0 +1,4 @@ +Wrote results/paper_table_status.json +Wrote results/paper_table_status.md +Wrote results/paper_analysis.json +Wrote results/paper_analysis.md diff --git a/workspace/outputs/hpc/logs/paper_gridmean_14897992.err b/workspace/outputs/hpc/logs/paper_gridmean_14897992.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/paper_gridmean_14897992.out b/workspace/outputs/hpc/logs/paper_gridmean_14897992.out new file mode 100644 index 0000000000000000000000000000000000000000..af5f760ae1b1f3686a27f0f633c225042d6d2fd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/paper_gridmean_14897992.out @@ -0,0 +1,4 @@ +Wrote results/paper_table_status.json +Wrote results/paper_table_status.md +Wrote results/paper_analysis.json +Wrote results/paper_analysis.md diff --git a/workspace/outputs/hpc/logs/paper_gupper_14898113.err b/workspace/outputs/hpc/logs/paper_gupper_14898113.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/paper_gupper_14898113.out b/workspace/outputs/hpc/logs/paper_gupper_14898113.out new file mode 100644 index 0000000000000000000000000000000000000000..af5f760ae1b1f3686a27f0f633c225042d6d2fd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/paper_gupper_14898113.out @@ -0,0 +1,4 @@ +Wrote results/paper_table_status.json +Wrote results/paper_table_status.md +Wrote results/paper_analysis.json +Wrote results/paper_analysis.md diff --git a/workspace/outputs/hpc/logs/paper_l2_14898333.err b/workspace/outputs/hpc/logs/paper_l2_14898333.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/paper_l2_14898333.out b/workspace/outputs/hpc/logs/paper_l2_14898333.out new file mode 100644 index 0000000000000000000000000000000000000000..af5f760ae1b1f3686a27f0f633c225042d6d2fd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/paper_l2_14898333.out @@ -0,0 +1,4 @@ +Wrote results/paper_table_status.json +Wrote results/paper_table_status.md +Wrote results/paper_analysis.json +Wrote results/paper_analysis.md diff --git a/workspace/outputs/hpc/logs/paper_margin_k4_14897849.err b/workspace/outputs/hpc/logs/paper_margin_k4_14897849.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/paper_margin_k4_14897849.out b/workspace/outputs/hpc/logs/paper_margin_k4_14897849.out new file mode 100644 index 0000000000000000000000000000000000000000..af5f760ae1b1f3686a27f0f633c225042d6d2fd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/paper_margin_k4_14897849.out @@ -0,0 +1,4 @@ +Wrote results/paper_table_status.json +Wrote results/paper_table_status.md +Wrote results/paper_analysis.json +Wrote results/paper_analysis.md diff --git a/workspace/outputs/hpc/logs/paper_nooponly_14897567.err b/workspace/outputs/hpc/logs/paper_nooponly_14897567.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/paper_nooponly_14897567.out b/workspace/outputs/hpc/logs/paper_nooponly_14897567.out new file mode 100644 index 0000000000000000000000000000000000000000..af5f760ae1b1f3686a27f0f633c225042d6d2fd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/paper_nooponly_14897567.out @@ -0,0 +1,4 @@ +Wrote results/paper_table_status.json +Wrote results/paper_table_status.md +Wrote results/paper_analysis.json +Wrote results/paper_analysis.md diff --git a/workspace/outputs/hpc/logs/paper_srcadv_14902725.err b/workspace/outputs/hpc/logs/paper_srcadv_14902725.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/paper_srcadv_14902725.out b/workspace/outputs/hpc/logs/paper_srcadv_14902725.out new file mode 100644 index 0000000000000000000000000000000000000000..af5f760ae1b1f3686a27f0f633c225042d6d2fd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/paper_srcadv_14902725.out @@ -0,0 +1,4 @@ +Wrote results/paper_table_status.json +Wrote results/paper_table_status.md +Wrote results/paper_analysis.json +Wrote results/paper_analysis.md diff --git a/workspace/outputs/hpc/logs/paper_typepri_14903136.err b/workspace/outputs/hpc/logs/paper_typepri_14903136.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/paper_typepri_14903136.out b/workspace/outputs/hpc/logs/paper_typepri_14903136.out new file mode 100644 index 0000000000000000000000000000000000000000..af5f760ae1b1f3686a27f0f633c225042d6d2fd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/paper_typepri_14903136.out @@ -0,0 +1,4 @@ +Wrote results/paper_table_status.json +Wrote results/paper_table_status.md +Wrote results/paper_analysis.json +Wrote results/paper_analysis.md diff --git a/workspace/outputs/hpc/logs/rankcal005_15048756_0.err b/workspace/outputs/hpc/logs/rankcal005_15048756_0.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/rankcal005_15048756_0.out b/workspace/outputs/hpc/logs/rankcal005_15048756_0.out new file mode 100644 index 0000000000000000000000000000000000000000..5ced488b0ef1b9f314a118066de8726be1c69801 --- /dev/null +++ b/workspace/outputs/hpc/logs/rankcal005_15048756_0.out @@ -0,0 +1,9 @@ +{ + "source_target_map": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1.json", + "target_type": "transported_residual_field_targets", + "num_targets": 2298, + "skipped_entries": 0, + "max_rank": 8, + "scale": 0.05, + "min_count": 10 +} diff --git a/workspace/outputs/hpc/logs/rankcal005_15048756_1.err b/workspace/outputs/hpc/logs/rankcal005_15048756_1.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/rankcal005_15048756_1.out b/workspace/outputs/hpc/logs/rankcal005_15048756_1.out new file mode 100644 index 0000000000000000000000000000000000000000..a21dff0368f57be59dba3f5c0dbdfdf86727cb0a --- /dev/null +++ b/workspace/outputs/hpc/logs/rankcal005_15048756_1.out @@ -0,0 +1,9 @@ +{ + "source_target_map": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1.json", + "target_type": "transported_residual_field_targets", + "num_targets": 2298, + "skipped_entries": 0, + "max_rank": 8, + "scale": 0.05, + "min_count": 10 +} diff --git a/workspace/outputs/hpc/logs/rankcal005_15048756_2.err b/workspace/outputs/hpc/logs/rankcal005_15048756_2.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/rankcal005_15048756_2.out b/workspace/outputs/hpc/logs/rankcal005_15048756_2.out new file mode 100644 index 0000000000000000000000000000000000000000..bdbab3dd6527e5ed689c005610cffb01442468ad --- /dev/null +++ b/workspace/outputs/hpc/logs/rankcal005_15048756_2.out @@ -0,0 +1,9 @@ +{ + "source_target_map": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/transport_field_targets_k6compose_dropnmnoop_dropnoopwg_grid035040045_margin0p00_clean_b12_sharded8_v1.json", + "target_type": "transported_residual_field_targets", + "num_targets": 2298, + "skipped_entries": 0, + "max_rank": 8, + "scale": 0.05, + "min_count": 10 +} diff --git a/workspace/outputs/hpc/logs/rr_adv_smoke_14902167_0.err b/workspace/outputs/hpc/logs/rr_adv_smoke_14902167_0.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/rr_adv_smoke_14902167_0.out b/workspace/outputs/hpc/logs/rr_adv_smoke_14902167_0.out new file mode 100644 index 0000000000000000000000000000000000000000..7372a454b59c81542e3b494db6a2bc069b06f111 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_adv_smoke_14902167_0.out @@ -0,0 +1,93 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 4, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.02, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.35738915391266346, + "oracle_success_rate": 0.75, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.042302681133151, + "policy_expert_regret": 0.7562528382986784, + "action_mse_to_best": 0.34660169295966625, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "PickCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.5533341951668262, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.24604947492480278, + "policy_expert_regret": 0.24604947492480278, + "action_mse_to_best": 0.34424643218517303, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.12671983242034912, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8732801675796509, + "policy_expert_regret": 1.8732801675796509, + "action_mse_to_best": 0.5963353514671326, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.19616839289665222, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.0, + "policy_oracle_regret": 1.8038316071033478, + "policy_expert_regret": 0.6596322357654572, + "action_mse_to_best": 0.10157855600118637, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 4 + }, + "selected_residual_scale_counts": { + "0.35": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_comp_grid_14905956_0.err b/workspace/outputs/hpc/logs/rr_comp_grid_14905956_0.err new file mode 100644 index 0000000000000000000000000000000000000000..af69141f9072bae33cec18f5417e0c964a67d4a6 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_comp_grid_14905956_0.err @@ -0,0 +1,10 @@ +2026-06-29 09:43:30,708 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:32,783 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:34,893 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:36,995 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:39,118 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:41,180 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:43,307 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:45,402 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:47,464 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:49,522 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_comp_grid_14905956_0.out b/workspace/outputs/hpc/logs/rr_comp_grid_14905956_0.out new file mode 100644 index 0000000000000000000000000000000000000000..397b9a70359578a67abc4003a4002bd2415ff68f --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_comp_grid_14905956_0.out @@ -0,0 +1,130 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3234782608695652, + "policy_rollout_progress": 0.5319681812231631, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.9324939172301927, + "policy_expert_regret": 0.8564648979294883, + "action_mse_to_best": 0.5628787715733051, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.13402061855670103, + "policy_rollout_progress": 0.45157057599923045, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.3174253004727905, + "policy_expert_regret": 1.2778108448711867, + "action_mse_to_best": 1.1220989288358958, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160301930056169, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746593182476667, + "policy_expert_regret": 0.9612364508211613, + "action_mse_to_best": 0.30374566746804005, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096365697331146, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201758026943675, + "policy_expert_regret": 0.24661976460052967, + "action_mse_to_best": 0.6003111614422365, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6922272223424404, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6481983095724532, + "policy_expert_regret": 0.5513087531670611, + "action_mse_to_best": 0.3681779884277506, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.24242424242424243, + "policy_rollout_progress": 0.4548858930968275, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1351558803909956, + "policy_expert_regret": 0.9875731102444909, + "action_mse_to_best": 0.7151505897066208, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_residual_no_op+residual_random_negative": 80, + "retrieval_residual_policy_residual": 473, + "retrieval_residual_residual_near_miss+residual_no_op": 1, + "retrieval_residual_residual_wrong_direction+residual_wrong_gripper": 1, + "retrieval_residual_residual_no_op": 8, + "retrieval_residual_residual_near_miss": 2, + "retrieval_residual_residual_wrong_gripper": 3, + "retrieval_residual_residual_wrong_gripper+residual_random_negative": 2, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2, + "retrieval_residual_residual_near_miss+residual_wrong_direction": 1, + "retrieval_residual_residual_wrong_direction+residual_random_negative": 1 + }, + "selected_residual_scale_counts": { + "0.45": 79, + "0.4": 15, + "0.35": 481 + } +} diff --git a/workspace/outputs/hpc/logs/rr_comp_grid_14905956_1.err b/workspace/outputs/hpc/logs/rr_comp_grid_14905956_1.err new file mode 100644 index 0000000000000000000000000000000000000000..798d52543864a7bd8d7dcfa4d519906b347557fa --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_comp_grid_14905956_1.err @@ -0,0 +1,10 @@ +2026-06-29 09:43:27,757 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:29,736 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:31,853 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:33,898 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:35,914 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:38,040 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:40,115 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:42,152 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:44,180 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:46,232 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_comp_grid_14905956_1.out b/workspace/outputs/hpc/logs/rr_comp_grid_14905956_1.out new file mode 100644 index 0000000000000000000000000000000000000000..7b1adb3db7fc97e235bdb515851f3fa48c985fd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_comp_grid_14905956_1.out @@ -0,0 +1,128 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5689693509657746, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8947926141483629, + "policy_expert_regret": 0.8179648010983416, + "action_mse_to_best": 0.4294346837553641, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.22123893805309736, + "policy_rollout_progress": 0.6228171645012577, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0881441188069572, + "policy_expert_regret": 1.0089420887221277, + "action_mse_to_best": 0.4459682410187294, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.5767885323958066, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0630025386952027, + "policy_expert_regret": 1.0629785342202724, + "action_mse_to_best": 0.3251112603339488, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.28967857047131185, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5229248910358077, + "policy_expert_regret": 0.27572859843310554, + "action_mse_to_best": 0.6011673336554515, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.3571399895994513, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.397006182716443, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.2935991444430508, + "policy_expert_regret": 1.133937297286568, + "action_mse_to_best": 0.5646022397738236, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 529, + "retrieval_residual_residual_no_op+residual_random_negative": 20, + "retrieval_residual_residual_no_op": 7, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 4, + "retrieval_residual_residual_near_miss+residual_no_op": 2, + "retrieval_residual_residual_wrong_gripper+residual_random_negative": 4, + "retrieval_residual_residual_wrong_gripper": 5, + "retrieval_residual_residual_wrong_direction+residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss": 2, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1 + }, + "selected_residual_scale_counts": { + "0.35": 540, + "0.45": 31, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_comp_grid_14905956_2.err b/workspace/outputs/hpc/logs/rr_comp_grid_14905956_2.err new file mode 100644 index 0000000000000000000000000000000000000000..d2bba0e9d61b3b4c407799e1a6ec6fdbf1fa8d11 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_comp_grid_14905956_2.err @@ -0,0 +1,12 @@ +2026-06-29 09:43:31,299 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:33,354 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:35,462 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:37,597 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:39,730 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:41,891 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:44,025 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:46,219 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:48,306 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:50,420 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:52,541 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:43:54,708 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_comp_grid_14905956_2.out b/workspace/outputs/hpc/logs/rr_comp_grid_14905956_2.out new file mode 100644 index 0000000000000000000000000000000000000000..0eadad942c0af61a50806f6196a5f50a10579608 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_comp_grid_14905956_2.out @@ -0,0 +1,126 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.35304347826086957, + "policy_rollout_progress": 0.5779604927731176, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8793793520471745, + "policy_expert_regret": 0.7859586205538621, + "action_mse_to_best": 0.4527168651791694, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6459818291477859, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9542933607784411, + "policy_expert_regret": 0.8480236708807448, + "action_mse_to_best": 0.3684568781318376, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.29797979797979796, + "policy_rollout_progress": 0.618034815886105, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0387845446891857, + "policy_expert_regret": 1.0246035738500079, + "action_mse_to_best": 0.35918041311129173, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.3280724752211528, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5223771107762433, + "policy_expert_regret": 0.29380798702713945, + "action_mse_to_best": 0.6472740675012271, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8015174488029858, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.41630433337523204, + "policy_expert_regret": 0.3614020819711213, + "action_mse_to_best": 0.3970620724381787, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.14444444444444443, + "policy_rollout_progress": 0.41624832335445616, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.325454970035288, + "policy_expert_regret": 1.1633344186676873, + "action_mse_to_best": 0.6162742221107086, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 529, + "retrieval_residual_residual_no_op+residual_random_negative": 25, + "retrieval_residual_residual_wrong_gripper": 10, + "retrieval_residual_residual_no_op": 3, + "retrieval_residual_residual_wrong_gripper+residual_random_negative": 5, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 541, + "0.45": 28, + "0.4": 6 + } +} diff --git a/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_0.err b/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_0.err new file mode 100644 index 0000000000000000000000000000000000000000..f08ccb27f93102b46d0f7a03ec4fc0b0cadd9348 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_0.err @@ -0,0 +1,10 @@ +2026-06-29 09:44:28,582 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:30,739 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:32,935 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:35,160 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:37,398 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:39,567 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:41,781 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:43,973 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:46,183 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:48,376 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_0.out b/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_0.out new file mode 100644 index 0000000000000000000000000000000000000000..95bb484768a32ef148ec3e49770f7e93cb9094e6 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_0.out @@ -0,0 +1,132 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3234782608695652, + "policy_rollout_progress": 0.5323185247628262, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.932121542673558, + "policy_expert_regret": 0.8560925233728536, + "action_mse_to_best": 0.563375490748364, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.13402061855670103, + "policy_rollout_progress": 0.45157057599923045, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.3174253004727905, + "policy_expert_regret": 1.2778108448711867, + "action_mse_to_best": 1.1220989288358958, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6159722211842353, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9747172900690482, + "policy_expert_regret": 0.9612944226425427, + "action_mse_to_best": 0.30399148212745786, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31240937069614794, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41723848439680483, + "policy_expert_regret": 0.24368244630296704, + "action_mse_to_best": 0.6033564091889889, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6922272223424404, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6481983095724532, + "policy_expert_regret": 0.5513087531670611, + "action_mse_to_best": 0.3681779884277506, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.24242424242424243, + "policy_rollout_progress": 0.4548858930968275, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1351558803909956, + "policy_expert_regret": 0.9875731102444909, + "action_mse_to_best": 0.7151505897066208, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_residual_no_op+residual_random_negative": 78, + "retrieval_residual_policy_residual": 468, + "retrieval_residual_residual_near_miss+residual_no_op": 1, + "retrieval_residual_residual_wrong_direction+residual_wrong_gripper": 1, + "retrieval_residual_residual_no_op": 16, + "retrieval_residual_residual_near_miss": 2, + "retrieval_residual_residual_wrong_gripper": 3, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2, + "retrieval_residual_residual_wrong_gripper+residual_random_negative": 1, + "retrieval_residual_residual_near_miss+residual_wrong_direction": 1, + "retrieval_residual_residual_wrong_direction+residual_random_negative": 1 + }, + "selected_residual_scale_counts": { + "0.45": 83, + "0.4": 16, + "0.35": 476 + } +} diff --git a/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_1.err b/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_1.err new file mode 100644 index 0000000000000000000000000000000000000000..ccc0a46461899ae9f0e4416928123ae41a09076f --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_1.err @@ -0,0 +1,10 @@ +2026-06-29 09:44:20,928 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:22,940 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:25,039 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:27,166 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:29,191 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:31,325 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:33,416 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:35,539 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:37,598 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:39,668 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_1.out b/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_1.out new file mode 100644 index 0000000000000000000000000000000000000000..67d230aa9e55f6318765101ee7d4aad7418792bd --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_1.out @@ -0,0 +1,129 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5697598444961983, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8922629901831565, + "policy_expert_regret": 0.8154351771331352, + "action_mse_to_best": 0.4286549947750957, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.22123893805309736, + "policy_rollout_progress": 0.6228171645012577, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0881441188069572, + "policy_expert_regret": 1.0089420887221277, + "action_mse_to_best": 0.4459682410187294, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.30434782608695654, + "policy_rollout_progress": 0.5792588246783809, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0550974638039328, + "policy_expert_regret": 1.0550734593290025, + "action_mse_to_best": 0.32267473227061005, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.28967857047131185, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5229248910358077, + "policy_expert_regret": 0.27572859843310554, + "action_mse_to_best": 0.6011673336554515, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.3571399895994513, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.397006182716443, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.2935991444430508, + "policy_expert_regret": 1.133937297286568, + "action_mse_to_best": 0.5646022397738236, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 527, + "retrieval_residual_residual_no_op+residual_random_negative": 20, + "retrieval_residual_residual_no_op": 12, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 3, + "retrieval_residual_residual_wrong_gripper+residual_random_negative": 4, + "retrieval_residual_residual_wrong_gripper": 5, + "retrieval_residual_residual_wrong_direction+residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss": 2, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1 + }, + "selected_residual_scale_counts": { + "0.35": 538, + "0.45": 33, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_2.err b/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_2.err new file mode 100644 index 0000000000000000000000000000000000000000..11d93983f44de5ff666904ebd097f2dd1b1dc1cf --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_2.err @@ -0,0 +1,12 @@ +2026-06-29 09:44:19,244 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:21,371 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:23,446 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:25,581 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:27,729 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:29,851 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:31,961 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:34,085 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:36,213 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:38,261 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:40,328 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:44:42,489 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_2.out b/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_2.out new file mode 100644 index 0000000000000000000000000000000000000000..38e09c27ae7c98f0ef3917be3904eaec4f2e33df --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_comp_grid_noop_14905957_2.out @@ -0,0 +1,128 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.35304347826086957, + "policy_rollout_progress": 0.577927736327917, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.879412108492375, + "policy_expert_regret": 0.7859763613192057, + "action_mse_to_best": 0.4529171594094647, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6459818291477859, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9542933607784411, + "policy_expert_regret": 0.8480236708807448, + "action_mse_to_best": 0.3684568781318376, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.29797979797979796, + "policy_rollout_progress": 0.6179832959867487, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.038836064588542, + "policy_expert_regret": 1.0246550937493641, + "action_mse_to_best": 0.3601090619810904, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.32797654171095525, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5224730442864408, + "policy_expert_regret": 0.29380798702713945, + "action_mse_to_best": 0.646510697570112, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8015174488029858, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.41630433337523204, + "policy_expert_regret": 0.3614020819711213, + "action_mse_to_best": 0.3970620724381787, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.14444444444444443, + "policy_rollout_progress": 0.41624832335445616, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.325454970035288, + "policy_expert_regret": 1.1633344186676873, + "action_mse_to_best": 0.6162742221107086, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 526, + "retrieval_residual_residual_no_op+residual_random_negative": 24, + "retrieval_residual_residual_wrong_gripper": 10, + "retrieval_residual_residual_no_op": 7, + "retrieval_residual_residual_wrong_gripper+residual_random_negative": 5, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 537, + "0.45": 31, + "0.4": 7 + } +} diff --git a/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_0.err b/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_0.err new file mode 100644 index 0000000000000000000000000000000000000000..2b94a6af198faf9716fb6ef948bcb361d3476451 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_0.err @@ -0,0 +1,10 @@ +2026-06-29 12:20:52,598 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:20:54,633 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:20:56,707 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:20:58,821 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:21:00,925 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:21:03,023 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:21:05,134 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:21:07,237 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:21:09,378 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:21:11,443 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_0.out b/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_0.out new file mode 100644 index 0000000000000000000000000000000000000000..76136895f11cc4d7714b8fd7ffa842f53fc8c275 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_0.out @@ -0,0 +1,128 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": true, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5560779854971105, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8840142917187641, + "policy_expert_regret": 0.8133565889857709, + "action_mse_to_best": 0.4081159762341691, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5682087363963274, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1183129132715697, + "policy_expert_regret": 1.0918974355631268, + "action_mse_to_best": 0.34483776046635256, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.616091780937635, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745977303156486, + "policy_expert_regret": 0.9611748628891431, + "action_mse_to_best": 0.30273427473954284, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3124380540767951, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41721006885001605, + "policy_expert_regret": 0.24365403075617822, + "action_mse_to_best": 0.6077609157020395, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.3675119048578942, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.29292929292929293, + "policy_rollout_progress": 0.46961257493857184, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0699241480442008, + "policy_expert_regret": 0.9222438893835954, + "action_mse_to_best": 0.5747978268473437, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 526, + "retrieval_residual_residual_near_miss+residual_no_op": 9, + "retrieval_residual_residual_near_miss": 4, + "retrieval_residual_residual_no_op": 21, + "retrieval_residual_residual_wrong_gripper": 3, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 10, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2 + }, + "selected_residual_scale_counts": { + "0.35": 529, + "0.45": 42, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_1.err b/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_1.err new file mode 100644 index 0000000000000000000000000000000000000000..0ec0a1153b7413bef96cb7a2d6916e81f3a1ac4d --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_1.err @@ -0,0 +1,10 @@ +2026-06-29 12:20:51,025 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:20:53,116 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:20:55,219 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:20:57,341 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:20:59,400 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:21:01,705 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:21:03,903 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:21:05,996 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:21:08,117 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:21:10,297 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_1.out b/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_1.out new file mode 100644 index 0000000000000000000000000000000000000000..d4db89017eb39ab15a407a51bc5e848db5e49442 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_1.out @@ -0,0 +1,128 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": true, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5709259671815063, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.892835997932631, + "policy_expert_regret": 0.8191675778769929, + "action_mse_to_best": 0.4013609097946597, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.33235782895039406, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5746428786938929, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.070582975005812, + "policy_expert_regret": 1.0705589705308818, + "action_mse_to_best": 0.3277512231801191, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.2889758540611518, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5236276074459678, + "policy_expert_regret": 0.300334617103401, + "action_mse_to_best": 0.5966075253917983, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.3571035131677851, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3985208471070279, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.292084480052466, + "policy_expert_regret": 1.1324226328959832, + "action_mse_to_best": 0.5268044121317811, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 538, + "retrieval_residual_residual_no_op": 12, + "retrieval_residual_residual_near_miss+residual_no_op": 6, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 10, + "retrieval_residual_residual_wrong_gripper": 5, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2, + "retrieval_residual_residual_near_miss": 2 + }, + "selected_residual_scale_counts": { + "0.35": 547, + "0.45": 25, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_2.err b/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_2.err new file mode 100644 index 0000000000000000000000000000000000000000..a0d2b80485a41b5bfe21d6ac7a21ea949a4d1d57 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_2.err @@ -0,0 +1,12 @@ +2026-06-29 12:16:19,166 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:16:21,224 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:16:23,411 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:16:25,460 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:16:27,631 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:16:29,728 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:16:31,879 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:16:34,058 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:16:36,146 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:16:38,206 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:16:40,262 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:16:42,444 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_2.out b/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_2.out new file mode 100644 index 0000000000000000000000000000000000000000..fa1c839bfe5b21d1495e04a277d3f309be3ac484 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compbonus_gpu_14912561_2.out @@ -0,0 +1,128 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": true, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5824720963954504, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8628242502145567, + "policy_expert_regret": 0.7719070507888334, + "action_mse_to_best": 0.4290960888200156, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6335969220357712, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9950257472769178, + "policy_expert_regret": 0.9879422967482094, + "action_mse_to_best": 0.34171034747527707, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.23333333333333334, + "policy_rollout_progress": 0.3376428539485359, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5016956209377491, + "policy_expert_regret": 0.27350674071521, + "action_mse_to_best": 0.6394667098919551, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8015174488029858, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.41630433337523204, + "policy_expert_regret": 0.3614020819711213, + "action_mse_to_best": 0.397049247997232, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.14444444444444443, + "policy_rollout_progress": 0.4009041431877348, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3369984101918009, + "policy_expert_regret": 1.1748778588242001, + "action_mse_to_best": 0.5265898496326473, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 536, + "retrieval_residual_residual_wrong_gripper": 11, + "retrieval_residual_residual_near_miss+residual_no_op": 3, + "retrieval_residual_residual_no_op": 10, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 13, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 545, + "0.45": 25, + "0.4": 5 + } +} diff --git a/workspace/outputs/hpc/logs/rr_compbonus_smoke_14912552_0.err b/workspace/outputs/hpc/logs/rr_compbonus_smoke_14912552_0.err new file mode 100644 index 0000000000000000000000000000000000000000..c12946869fae92059510acfff7c2f3ad5422fec5 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compbonus_smoke_14912552_0.err @@ -0,0 +1,2 @@ +2026-06-29 12:10:24,812 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:10:26,695 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_compbonus_smoke_14912552_0.out b/workspace/outputs/hpc/logs/rr_compbonus_smoke_14912552_0.out new file mode 100644 index 0000000000000000000000000000000000000000..9698c8a500ea93bd7adecbc81379feaa16f4c647 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compbonus_smoke_14912552_0.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 8, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": true, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.42129452247172594, + "oracle_success_rate": 0.75, + "expert_success_rate": 0.625, + "policy_oracle_regret": 0.9274231595918536, + "policy_expert_regret": 0.7677409974858165, + "action_mse_to_best": 0.31736957002431154, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.7081606388092041, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.291839361190796, + "policy_expert_regret": 1.291839361190796, + "action_mse_to_best": 0.1640373021364212, + "restore_max_error": 1.4901161193847656e-08 + }, + "PickCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.5533341951668262, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.24604947492480278, + "policy_expert_regret": 0.24604947492480278, + "action_mse_to_best": 0.34424643218517303, + "restore_max_error": 1.4901161193847656e-08 + }, + "PullCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.528858095407486, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.06662896275520325, + "policy_expert_regret": 0.0, + "action_mse_to_best": 0.30013594031333923, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.12671983242034912, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8732801675796509, + "policy_expert_regret": 1.8732801675796509, + "action_mse_to_best": 0.5963353514671326, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.18554556369781494, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.814454436302185, + "policy_expert_regret": 1.2423547506332397, + "action_mse_to_best": 0.24490958079695702, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 8 + }, + "selected_residual_scale_counts": { + "0.35": 8 + } +} diff --git a/workspace/outputs/hpc/logs/rr_compmask_14911979_0.err b/workspace/outputs/hpc/logs/rr_compmask_14911979_0.err new file mode 100644 index 0000000000000000000000000000000000000000..16f5b15dc6ff741dc0fabc7a23b874ec6d9c20b7 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compmask_14911979_0.err @@ -0,0 +1,10 @@ +2026-06-29 11:46:35,074 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:46:37,148 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:46:39,236 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:46:41,437 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:46:43,523 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:46:45,640 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:46:47,733 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:46:49,883 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:46:51,967 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:46:54,009 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_compmask_14911979_0.out b/workspace/outputs/hpc/logs/rr_compmask_14911979_0.out new file mode 100644 index 0000000000000000000000000000000000000000..de26c80f5b1e12e3819bfb8fe3485a7ae5b095f9 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compmask_14911979_0.out @@ -0,0 +1,125 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5549376096017659, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8851766627646335, + "policy_expert_regret": 0.8145189600316403, + "action_mse_to_best": 0.40412475434496353, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5682087363963274, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1183129132715697, + "policy_expert_regret": 1.0918974355631268, + "action_mse_to_best": 0.34483776046635256, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6161197572946548, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745697539586288, + "policy_expert_regret": 0.9611468865321233, + "action_mse_to_best": 0.30269481216628963, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096365697331146, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201758026943675, + "policy_expert_regret": 0.24661976460052967, + "action_mse_to_best": 0.6003965423865751, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.3675119048578942, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.29292929292929293, + "policy_rollout_progress": 0.4651093332454412, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0744273897373315, + "policy_expert_regret": 0.926747131076726, + "action_mse_to_best": 0.5574272447689013, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 534, + "retrieval_residual_residual_near_miss+residual_no_op": 9, + "retrieval_residual_residual_near_miss": 4, + "retrieval_residual_residual_no_op": 16, + "retrieval_residual_residual_wrong_gripper": 3, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 7, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2 + }, + "selected_residual_scale_counts": { + "0.35": 535, + "0.45": 36, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_compmask_14911979_1.err b/workspace/outputs/hpc/logs/rr_compmask_14911979_1.err new file mode 100644 index 0000000000000000000000000000000000000000..60781a6f938b1917589cd6ac88b0391b7d609ee7 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compmask_14911979_1.err @@ -0,0 +1,10 @@ +2026-06-29 11:49:58,314 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:50:00,294 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:50:02,413 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:50:04,440 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:50:06,507 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:50:08,599 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:50:10,697 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:50:12,733 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:50:14,737 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:50:16,811 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_compmask_14911979_1.out b/workspace/outputs/hpc/logs/rr_compmask_14911979_1.out new file mode 100644 index 0000000000000000000000000000000000000000..aedd10c4d8be619730a8eb9269ac248cd5355905 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compmask_14911979_1.out @@ -0,0 +1,125 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5699067040403252, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8955943915085948, + "policy_expert_regret": 0.8219151114607635, + "action_mse_to_best": 0.39919882555532715, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.28804347826086957, + "policy_rollout_progress": 0.5719361036874192, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0787245326209813, + "policy_expert_regret": 1.078700528146051, + "action_mse_to_best": 0.32493376191300544, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.28782207881541627, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5247813826917034, + "policy_expert_regret": 0.3014062279345174, + "action_mse_to_best": 0.5971616980080542, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.3571035131677851, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3985208471070279, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.292084480052466, + "policy_expert_regret": 1.1324226328959832, + "action_mse_to_best": 0.5268044121317811, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 546, + "retrieval_residual_residual_no_op": 8, + "retrieval_residual_residual_near_miss+residual_no_op": 4, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 8, + "retrieval_residual_residual_wrong_gripper": 5, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2, + "retrieval_residual_residual_near_miss": 2 + }, + "selected_residual_scale_counts": { + "0.35": 552, + "0.45": 20, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_compmask_14911979_2.err b/workspace/outputs/hpc/logs/rr_compmask_14911979_2.err new file mode 100644 index 0000000000000000000000000000000000000000..f49119badc4fe888ece4f3e60cb688433969e58a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compmask_14911979_2.err @@ -0,0 +1,12 @@ +2026-06-29 11:47:52,873 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:47:54,980 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:47:57,093 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:47:59,159 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:48:01,270 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:48:03,463 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:48:05,561 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:48:07,728 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:48:09,813 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:48:11,992 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:48:14,046 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:48:16,195 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_compmask_14911979_2.out b/workspace/outputs/hpc/logs/rr_compmask_14911979_2.out new file mode 100644 index 0000000000000000000000000000000000000000..16fb160bdb4c4d69efc9bc07e557f1fe9fd87c5f --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compmask_14911979_2.out @@ -0,0 +1,125 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5824044770898605, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8628918695201466, + "policy_expert_regret": 0.7719129066471594, + "action_mse_to_best": 0.42814753062942107, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6336984014646574, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9949242678480317, + "policy_expert_regret": 0.9878408173193233, + "action_mse_to_best": 0.3380951944437593, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.23333333333333334, + "policy_rollout_progress": 0.33698758697482845, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5023508879114564, + "policy_expert_regret": 0.27376740788695314, + "action_mse_to_best": 0.6413598136769401, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8015174488029858, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.41630433337523204, + "policy_expert_regret": 0.3614020819711213, + "action_mse_to_best": 0.397049247997232, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.14444444444444443, + "policy_rollout_progress": 0.4009041431877348, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3369984101918009, + "policy_expert_regret": 1.1748778588242001, + "action_mse_to_best": 0.5265898496326473, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 543, + "retrieval_residual_residual_wrong_gripper": 11, + "retrieval_residual_residual_near_miss+residual_no_op": 3, + "retrieval_residual_residual_no_op": 7, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 9, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 550, + "0.45": 22, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_0.err b/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_0.err new file mode 100644 index 0000000000000000000000000000000000000000..ab6512663a13c4d4bb7da160a54875bae498cf54 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_0.err @@ -0,0 +1,10 @@ +2026-06-29 11:51:56,709 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:51:58,739 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:00,877 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:03,002 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:05,108 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:07,214 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:09,309 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:11,405 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:13,484 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:15,550 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_0.out b/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_0.out new file mode 100644 index 0000000000000000000000000000000000000000..c629bf3b7fa9aa6bdcaaf35f4e229635ace7f48c --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_0.out @@ -0,0 +1,127 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.35130434782608694, + "policy_rollout_progress": 0.5575027554895243, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8791112249903381, + "policy_expert_regret": 0.8084535222573449, + "action_mse_to_best": 0.4049635051790139, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5682087363963274, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1183129132715697, + "policy_expert_regret": 1.0918974355631268, + "action_mse_to_best": 0.34483776046635256, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34615384615384615, + "policy_rollout_progress": 0.6181530872216592, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9677287317239321, + "policy_expert_regret": 0.9543058642974267, + "action_mse_to_best": 0.30273104519941485, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31240937069614794, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41723848439680483, + "policy_expert_regret": 0.24368244630296704, + "action_mse_to_best": 0.6033564091889889, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.3675119048578942, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.30303030303030304, + "policy_rollout_progress": 0.47357923815948794, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0558564747222747, + "policy_expert_regret": 0.9081762160616692, + "action_mse_to_best": 0.5599205327982252, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 527, + "retrieval_residual_residual_near_miss+residual_no_op": 8, + "retrieval_residual_residual_near_miss": 4, + "retrieval_residual_residual_no_op": 24, + "retrieval_residual_residual_wrong_gripper": 3, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 7, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2 + }, + "selected_residual_scale_counts": { + "0.35": 530, + "0.45": 41, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_1.err b/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_1.err new file mode 100644 index 0000000000000000000000000000000000000000..3488c7bd77aafd35720d9f15fdd19bc7d63a40f9 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_1.err @@ -0,0 +1,10 @@ +2026-06-29 11:51:55,453 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:51:57,453 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:51:59,604 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:01,678 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:03,783 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:05,994 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:08,123 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:10,213 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:12,284 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:14,424 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_1.out b/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_1.out new file mode 100644 index 0000000000000000000000000000000000000000..fab6f92d5c7ce317ebd8c1b8ec1b3a96324d2c67 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_1.out @@ -0,0 +1,127 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5714990638326044, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8905237708467504, + "policy_expert_regret": 0.8168444907989191, + "action_mse_to_best": 0.3985257065668702, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.576910365069204, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.062880706021805, + "policy_expert_regret": 1.062856701546875, + "action_mse_to_best": 0.32250052587250655, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.28782207881541627, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5247813826917034, + "policy_expert_regret": 0.3014062279345174, + "action_mse_to_best": 0.5971616980080542, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.3571035131677851, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3985208471070279, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.292084480052466, + "policy_expert_regret": 1.1324226328959832, + "action_mse_to_best": 0.5268044121317811, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 542, + "retrieval_residual_residual_no_op": 16, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 7, + "retrieval_residual_residual_wrong_gripper": 5, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2, + "retrieval_residual_residual_near_miss": 2, + "retrieval_residual_residual_near_miss+residual_no_op": 1 + }, + "selected_residual_scale_counts": { + "0.35": 549, + "0.45": 23, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_2.err b/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_2.err new file mode 100644 index 0000000000000000000000000000000000000000..aa8b47c8f3f9c9e4fca0e1bd1043f682883d66e3 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_2.err @@ -0,0 +1,12 @@ +2026-06-29 11:51:53,958 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:51:56,032 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:51:58,170 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:00,299 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:02,488 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:04,689 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:06,791 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:09,005 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:11,136 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:13,226 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:15,349 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:52:17,516 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_2.out b/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_2.out new file mode 100644 index 0000000000000000000000000000000000000000..8266349f2ab369ffdefdad0deb42a61b1d6b604a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_compmask_noop_14911980_2.out @@ -0,0 +1,127 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.581639973183258, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8636563734267491, + "policy_expert_regret": 0.7726623948739049, + "action_mse_to_best": 0.42840892173268874, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357579371995397, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878142270626444, + "policy_expert_regret": 0.980730776533936, + "action_mse_to_best": 0.3390917487705898, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.327572277843683, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.522877308153713, + "policy_expert_regret": 0.2941978946190122, + "action_mse_to_best": 0.6408373928732343, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8015174488029858, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.41630433337523204, + "policy_expert_regret": 0.3614020819711213, + "action_mse_to_best": 0.397049247997232, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.14444444444444443, + "policy_rollout_progress": 0.4009041431877348, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3369984101918009, + "policy_expert_regret": 1.1748778588242001, + "action_mse_to_best": 0.5265898496326473, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 539, + "retrieval_residual_residual_wrong_gripper": 11, + "retrieval_residual_residual_no_op": 15, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 7, + "retrieval_residual_residual_near_miss+residual_no_op": 1, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 546, + "0.45": 25, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_consensus005_14903384_0.err b/workspace/outputs/hpc/logs/rr_consensus005_14903384_0.err new file mode 100644 index 0000000000000000000000000000000000000000..3d8d3e6282971b37e43f0a7c2c372c386502ca41 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_consensus005_14903384_0.err @@ -0,0 +1,10 @@ +2026-06-29 07:29:13,332 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:15,315 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:17,345 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:19,425 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:21,473 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:23,511 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:25,589 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:27,683 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:29,724 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:31,791 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_consensus005_14903384_0.out b/workspace/outputs/hpc/logs/rr_consensus005_14903384_0.out new file mode 100644 index 0000000000000000000000000000000000000000..ce2316e3f148f184266106cbd3effaa8a8bc78c1 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_consensus005_14903384_0.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.05, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5521807556688462, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8896726471323358, + "policy_expert_regret": 0.8153477723094756, + "action_mse_to_best": 0.3832732022602273, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5685517222610945, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1179699274068027, + "policy_expert_regret": 1.0915544496983598, + "action_mse_to_best": 0.3205717526779501, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6161075904965401, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745819207567435, + "policy_expert_regret": 0.9611590533302381, + "action_mse_to_best": 0.30267727349956447, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096365697331146, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201758026943675, + "policy_expert_regret": 0.24661976460052967, + "action_mse_to_best": 0.6004023391318012, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932199602114394, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472055717034543, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.366207129777746, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.29292929292929293, + "policy_rollout_progress": 0.4565590555318678, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0829776674509048, + "policy_expert_regret": 0.9318714340527853, + "action_mse_to_best": 0.46136674838084163, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 542, + "retrieval_residual_residual_wrong_direction": 4, + "retrieval_residual_residual_no_op": 17, + "retrieval_residual_residual_wrong_gripper": 9, + "retrieval_residual_residual_random_negative": 2, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 543, + "0.4": 6, + "0.45": 26 + } +} diff --git a/workspace/outputs/hpc/logs/rr_consensus005_14903384_1.err b/workspace/outputs/hpc/logs/rr_consensus005_14903384_1.err new file mode 100644 index 0000000000000000000000000000000000000000..985adce1843899f72922ab851412c2cc976e23a4 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_consensus005_14903384_1.err @@ -0,0 +1,10 @@ +2026-06-29 07:29:24,676 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:26,724 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:28,872 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:31,012 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:33,146 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:35,367 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:37,504 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:39,633 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:41,779 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:43,938 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_consensus005_14903384_1.out b/workspace/outputs/hpc/logs/rr_consensus005_14903384_1.out new file mode 100644 index 0000000000000000000000000000000000000000..c0ec5afe3c0fa3916e7a4f908492b37828d4014d --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_consensus005_14903384_1.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.05, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5680819216532552, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8974191738956648, + "policy_expert_regret": 0.8238428198222233, + "action_mse_to_best": 0.3906341830300896, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5742648921441287, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0709609615555762, + "policy_expert_regret": 1.070936957080646, + "action_mse_to_best": 0.31983517954611906, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.278420454087226, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5473409021567357, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5738953594118357, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.39013377601628774, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004715511432061, + "policy_expert_regret": 1.1408097039867233, + "action_mse_to_best": 0.5021233438299253, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 550, + "retrieval_residual_residual_no_op": 16, + "retrieval_residual_residual_wrong_gripper": 7, + "retrieval_residual_residual_wrong_direction": 1, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 555, + "0.45": 17, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_consensus005_14903384_2.err b/workspace/outputs/hpc/logs/rr_consensus005_14903384_2.err new file mode 100644 index 0000000000000000000000000000000000000000..02606d7f36b48286179d947e305166d9d28c0a38 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_consensus005_14903384_2.err @@ -0,0 +1,12 @@ +2026-06-29 07:29:10,180 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:12,187 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:14,274 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:16,311 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:18,372 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:20,440 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:22,475 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:24,556 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:26,618 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:28,646 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:30,674 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:32,812 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_consensus005_14903384_2.out b/workspace/outputs/hpc/logs/rr_consensus005_14903384_2.out new file mode 100644 index 0000000000000000000000000000000000000000..5f96270eed1030b36a0267c5d46d5ec7dcdc3585 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_consensus005_14903384_2.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.05, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3652173913043478, + "policy_rollout_progress": 0.5804556742299737, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8665278272535911, + "policy_expert_regret": 0.777569850253453, + "action_mse_to_best": 0.417442593285409, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6336138820783659, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9950087872343232, + "policy_expert_regret": 0.9879253367056148, + "action_mse_to_best": 0.33566434916598026, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.32842275532722043, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5220268306701756, + "policy_expert_regret": 0.29348606399639215, + "action_mse_to_best": 0.6285775651534399, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.3882303135377346, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4076509224043952, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.318808453778426, + "policy_expert_regret": 1.1695570432477527, + "action_mse_to_best": 0.4862241067406204, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 552, + "retrieval_residual_residual_wrong_gripper": 12, + "retrieval_residual_residual_no_op": 8, + "retrieval_residual_residual_random_negative": 2, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 555, + "0.45": 18, + "0.4": 2 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_0.err b/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_0.err new file mode 100644 index 0000000000000000000000000000000000000000..43867ce8bf04d0ce26b95ad77e376d70455e73e2 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_0.err @@ -0,0 +1,10 @@ +2026-06-29 02:38:44,802 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:38:46,810 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:38:48,883 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:38:51,018 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:38:53,084 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:38:55,220 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:38:57,292 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:38:59,413 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:01,494 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:03,567 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_0.out b/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_0.out new file mode 100644 index 0000000000000000000000000000000000000000..bad15df6343a12755ad630f62c83fcf2ae474139 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_0.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34956521739130436, + "policy_rollout_progress": 0.5555548929058663, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8827982180087787, + "policy_expert_regret": 0.8095734711938902, + "action_mse_to_best": 0.38325022562852373, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160796141395202, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746098971137633, + "policy_expert_regret": 0.9611870296872579, + "action_mse_to_best": 0.3027167360728177, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31240937069614794, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41723848439680483, + "policy_expert_regret": 0.24368244630296704, + "action_mse_to_best": 0.6033577046224049, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36525934506604013, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.29292929292929293, + "policy_rollout_progress": 0.463433347115613, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0761033758671597, + "policy_expert_regret": 0.913513517741001, + "action_mse_to_best": 0.4606080571133079, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 538, + "retrieval_residual_residual_no_op": 29, + "retrieval_residual_residual_wrong_gripper": 8 + }, + "selected_residual_scale_counts": { + "0.35": 542, + "0.45": 29, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_1.err b/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_1.err new file mode 100644 index 0000000000000000000000000000000000000000..0b954efc01a5488b15097bf1a86cd74549229f42 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_1.err @@ -0,0 +1,10 @@ +2026-06-29 02:39:24,293 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:26,284 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:28,365 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:30,452 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:32,607 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:34,824 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:36,939 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:38,982 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:41,051 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:43,125 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_1.out b/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_1.out new file mode 100644 index 0000000000000000000000000000000000000000..362eb74c3aac546accd5ed70eb4445fdbc2fc802 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_1.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5688531251381272, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8949088399760101, + "policy_expert_regret": 0.8212555521532245, + "action_mse_to_best": 0.39020921881918025, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.576910365069204, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.062880706021805, + "policy_expert_regret": 1.062856701546875, + "action_mse_to_best": 0.3202790089316018, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3901400299190165, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004652972404773, + "policy_expert_regret": 1.1408034500839945, + "action_mse_to_best": 0.49897152742186746, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 547, + "retrieval_residual_residual_no_op": 21, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.35": 552, + "0.45": 20, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_2.err b/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_2.err new file mode 100644 index 0000000000000000000000000000000000000000..d9122bbe691add0c7d9e4051e33b85617b517715 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_2.err @@ -0,0 +1,12 @@ +2026-06-29 02:39:35,610 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:37,687 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:39,826 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:41,982 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:44,125 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:46,329 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:48,564 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:50,776 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:52,927 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:55,093 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:57,193 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:59,349 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_2.out b/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_2.out new file mode 100644 index 0000000000000000000000000000000000000000..613ad968d86f8484f63fa93e20d618ad03a1dfa9 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gridmean_nb_14897988_2.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5817657133537368, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8634786576950453, + "policy_expert_regret": 0.774502104881448, + "action_mse_to_best": 0.41840793088321454, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357579371995397, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878142270626444, + "policy_expert_regret": 0.980730776533936, + "action_mse_to_best": 0.33665372297694585, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.32759223662455444, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5228573493728416, + "policy_expert_regret": 0.2941979038908458, + "action_mse_to_best": 0.6320193340380986, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.3882303135377346, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4121342142422994, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3143251619405216, + "policy_expert_regret": 1.1650737514098486, + "action_mse_to_best": 0.48677315012448363, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 546, + "retrieval_residual_residual_wrong_gripper": 13, + "retrieval_residual_residual_no_op": 16 + }, + "selected_residual_scale_counts": { + "0.35": 549, + "0.45": 23, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_0.err b/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_0.err new file mode 100644 index 0000000000000000000000000000000000000000..6acbf5b0a232a4df5f2dbfc777501c4bf0380253 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_0.err @@ -0,0 +1,10 @@ +2026-06-29 02:39:41,157 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:43,234 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:45,431 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:47,615 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:49,820 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:51,983 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:54,144 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:56,313 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:58,454 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:40:00,632 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_0.out b/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_0.out new file mode 100644 index 0000000000000000000000000000000000000000..8b09ebf2ece526185889d19ae0af384efb8b5520 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_0.out @@ -0,0 +1,116 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.552387103839251, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.889466298961931, + "policy_expert_regret": 0.8131642435337214, + "action_mse_to_best": 0.3825820753642398, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160796141395202, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746098971137633, + "policy_expert_regret": 0.9611870296872579, + "action_mse_to_best": 0.3027237894085164, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096365697331146, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201758026943675, + "policy_expert_regret": 0.24661976460052967, + "action_mse_to_best": 0.6003978378199911, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932199602114394, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472055717034543, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.366207129777746, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4549634422015662, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0946742908822165, + "policy_expert_regret": 0.9320844327560579, + "action_mse_to_best": 0.45811476908398396, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 540, + "retrieval_residual_residual_no_op": 26, + "retrieval_residual_residual_wrong_gripper": 9 + }, + "selected_residual_scale_counts": { + "0.35": 543, + "0.45": 28, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_1.err b/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_1.err new file mode 100644 index 0000000000000000000000000000000000000000..32d632da06cd4068404057d99176050052f57cc3 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_1.err @@ -0,0 +1,10 @@ +2026-06-29 02:38:51,229 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:38:53,338 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:38:55,567 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:38:57,728 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:38:59,924 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:02,186 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:04,461 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:06,643 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:09,060 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:39:11,280 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_1.out b/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_1.out new file mode 100644 index 0000000000000000000000000000000000000000..3ccd7e576d768ad22012f04af35488eb1557cccd --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_1.out @@ -0,0 +1,116 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5687996098949858, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8949623552191517, + "policy_expert_regret": 0.8213090673963661, + "action_mse_to_best": 0.39055384830126294, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.32653587228264164, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.5767873519646894, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0630037191263197, + "policy_expert_regret": 1.0629797146513895, + "action_mse_to_best": 0.3198613081653805, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.3585310179639507, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3900506139456571, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3005547132138366, + "policy_expert_regret": 1.140892866057354, + "action_mse_to_best": 0.5000254279309577, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 544, + "retrieval_residual_residual_no_op": 21, + "retrieval_residual_residual_wrong_gripper": 10 + }, + "selected_residual_scale_counts": { + "0.35": 550, + "0.45": 22, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_2.err b/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_2.err new file mode 100644 index 0000000000000000000000000000000000000000..73b8ef19a4d3f68b45d88cf4cc9d3552f01065e1 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_2.err @@ -0,0 +1,12 @@ +2026-06-29 02:43:38,859 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:43:40,864 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:43:42,941 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:43:44,971 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:43:47,089 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:43:49,148 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:43:51,193 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:43:53,274 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:43:55,457 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:43:57,508 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:43:59,593 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:44:01,688 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_2.out b/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_2.out new file mode 100644 index 0000000000000000000000000000000000000000..9dd59f1054c81cb59cde9b86f654da55309e447e --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gridmean_sc_14897989_2.out @@ -0,0 +1,116 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5817619555011618, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8634824155476204, + "policy_expert_regret": 0.7745208784138801, + "action_mse_to_best": 0.4187441605337612, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35520764285562717, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357043467161029, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878678175460811, + "policy_expert_regret": 0.9807843670173727, + "action_mse_to_best": 0.3356989932368801, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.327688170134752, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.522761415862644, + "policy_expert_regret": 0.2941979038908458, + "action_mse_to_best": 0.6327827039692137, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922066967971254, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.4355160754801023, + "policy_expert_regret": 0.3806138240759916, + "action_mse_to_best": 0.3905894164696778, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4121342142422994, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3143251619405216, + "policy_expert_regret": 1.1650737514098486, + "action_mse_to_best": 0.48677315012448363, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 544, + "retrieval_residual_residual_wrong_gripper": 16, + "retrieval_residual_residual_no_op": 15 + }, + "selected_residual_scale_counts": { + "0.35": 547, + "0.45": 26, + "0.4": 2 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gup_nb_14898107_0.err b/workspace/outputs/hpc/logs/rr_gup_nb_14898107_0.err new file mode 100644 index 0000000000000000000000000000000000000000..b8abe4bce8b136900d26c78ab11086fc30b1814a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gup_nb_14898107_0.err @@ -0,0 +1,10 @@ +2026-06-29 02:55:51,875 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:55:53,853 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:55:55,887 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:55:57,954 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:00,098 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:02,127 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:04,207 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:06,229 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:08,300 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:10,354 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gup_nb_14898107_0.out b/workspace/outputs/hpc/logs/rr_gup_nb_14898107_0.out new file mode 100644 index 0000000000000000000000000000000000000000..2a959194d78dab930d1c1f55bfd3d62749f98503 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gup_nb_14898107_0.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.4, + 0.45, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5553471852506956, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8865062175504863, + "policy_expert_regret": 0.8132814707355979, + "action_mse_to_best": 0.3837931162734394, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.33653846153846156, + "policy_rollout_progress": 0.6139292046427727, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9815679989182032, + "policy_expert_regret": 0.9681451314916978, + "action_mse_to_best": 0.3028640510299458, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31177073029510965, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41804164213237244, + "policy_expert_regret": 0.24448560403853462, + "action_mse_to_best": 0.6037803367747889, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014086295632606, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6283786044792926, + "policy_expert_regret": 0.5508279580068081, + "action_mse_to_best": 0.36579142193844977, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.46723886345974125, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0823988696240416, + "policy_expert_regret": 0.9198090114978829, + "action_mse_to_best": 0.4626177814365788, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 538, + "retrieval_residual_residual_no_op": 27, + "retrieval_residual_residual_wrong_gripper": 10 + }, + "selected_residual_scale_counts": { + "0.4": 543, + "0.5": 30, + "0.45": 2 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gup_nb_14898107_1.err b/workspace/outputs/hpc/logs/rr_gup_nb_14898107_1.err new file mode 100644 index 0000000000000000000000000000000000000000..ccc0a4a57fdb6defb7a0c3dcf9d7d24cd7bf4e85 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gup_nb_14898107_1.err @@ -0,0 +1,10 @@ +2026-06-29 02:55:48,860 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:55:50,860 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:55:53,024 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:55:55,105 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:55:57,202 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:55:59,387 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:01,493 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:03,597 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:05,696 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:07,820 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gup_nb_14898107_1.out b/workspace/outputs/hpc/logs/rr_gup_nb_14898107_1.out new file mode 100644 index 0000000000000000000000000000000000000000..e2f7a68a013ddd5dc3fbd363edd1c7d03673b3d5 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gup_nb_14898107_1.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.4, + 0.45, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34956521739130436, + "policy_rollout_progress": 0.5711554712316265, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8891282330129457, + "policy_expert_regret": 0.815570865791777, + "action_mse_to_best": 0.39108053201080667, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.30434782608695654, + "policy_rollout_progress": 0.5789819219068665, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0553743665754471, + "policy_expert_regret": 1.055350362100517, + "action_mse_to_best": 0.32045821142990305, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.29004565131311355, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.522557810194006, + "policy_expert_regret": 0.3001050222174902, + "action_mse_to_best": 0.573825633937591, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8335262947791332, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.346653885401047, + "policy_expert_regret": 0.3294863182682175, + "action_mse_to_best": 0.35999264198917524, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3901473704602692, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004579566992247, + "policy_expert_regret": 1.140796109542742, + "action_mse_to_best": 0.5005223249996101, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 544, + "retrieval_residual_residual_no_op": 23, + "retrieval_residual_residual_wrong_gripper": 8 + }, + "selected_residual_scale_counts": { + "0.4": 549, + "0.45": 4, + "0.5": 22 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gup_nb_14898107_2.err b/workspace/outputs/hpc/logs/rr_gup_nb_14898107_2.err new file mode 100644 index 0000000000000000000000000000000000000000..7172c89db6623b64484a42bde5c575e46530e377 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gup_nb_14898107_2.err @@ -0,0 +1,12 @@ +2026-06-29 02:55:55,005 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:55:57,127 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:55:59,279 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:01,424 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:03,607 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:05,787 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:07,940 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:10,140 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:12,310 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:14,473 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:16,662 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:18,985 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gup_nb_14898107_2.out b/workspace/outputs/hpc/logs/rr_gup_nb_14898107_2.out new file mode 100644 index 0000000000000000000000000000000000000000..caa631f042c35299cc38fb73801ce30aa6089623 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gup_nb_14898107_2.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.4, + 0.45, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3652173913043478, + "policy_rollout_progress": 0.581082182587058, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8659681467172018, + "policy_expert_regret": 0.7770595070212205, + "action_mse_to_best": 0.42013527530285977, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357443192221149, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.987827845040069, + "policy_expert_regret": 0.9807443945113608, + "action_mse_to_best": 0.3370037544518709, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.31943315598010585, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5421275411284013, + "policy_expert_regret": 0.2938225742705375, + "action_mse_to_best": 0.6273176141911083, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7930181010229753, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43470467125425244, + "policy_expert_regret": 0.3976949640724919, + "action_mse_to_best": 0.39170166304205906, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4150477194123798, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.311838612291548, + "policy_expert_regret": 1.162587201760875, + "action_mse_to_best": 0.4978449867417415, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 544, + "retrieval_residual_residual_wrong_gripper": 14, + "retrieval_residual_residual_no_op": 17 + }, + "selected_residual_scale_counts": { + "0.4": 549, + "0.45": 6, + "0.5": 20 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gup_sc_14898108_0.err b/workspace/outputs/hpc/logs/rr_gup_sc_14898108_0.err new file mode 100644 index 0000000000000000000000000000000000000000..ba65870afa62c9e493b1f410877408be285653b1 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gup_sc_14898108_0.err @@ -0,0 +1,10 @@ +2026-06-29 02:56:23,988 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:26,077 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:28,213 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:30,397 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:32,559 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:34,705 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:36,900 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:39,061 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:41,243 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:56:43,421 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gup_sc_14898108_0.out b/workspace/outputs/hpc/logs/rr_gup_sc_14898108_0.out new file mode 100644 index 0000000000000000000000000000000000000000..606ad39d4c84438da94445801aa62b002ede1961 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gup_sc_14898108_0.out @@ -0,0 +1,116 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.4, + 0.45, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5549538400178047, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8868995627833773, + "policy_expert_regret": 0.8136748159684889, + "action_mse_to_best": 0.3833637685717448, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.33653846153846156, + "policy_rollout_progress": 0.6139292046427727, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9815679989182032, + "policy_expert_regret": 0.9681451314916978, + "action_mse_to_best": 0.3028640510299458, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.308833411997547, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4209789604299351, + "policy_expert_regret": 0.24742292233609728, + "action_mse_to_best": 0.6005741688725236, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014086295632606, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6283786044792926, + "policy_expert_regret": 0.5508279580068081, + "action_mse_to_best": 0.36579142193844977, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.46723886345974125, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0823988696240416, + "policy_expert_regret": 0.9198090114978829, + "action_mse_to_best": 0.4626177814365788, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 539, + "retrieval_residual_residual_no_op": 26, + "retrieval_residual_residual_wrong_gripper": 10 + }, + "selected_residual_scale_counts": { + "0.4": 544, + "0.5": 30, + "0.45": 1 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gup_sc_14898108_1.err b/workspace/outputs/hpc/logs/rr_gup_sc_14898108_1.err new file mode 100644 index 0000000000000000000000000000000000000000..3aeb3e6b604810269a3d867cdc2eb2359ab48d89 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gup_sc_14898108_1.err @@ -0,0 +1,10 @@ +2026-06-29 02:57:21,563 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:57:23,557 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:57:26,562 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:57:28,724 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:57:30,928 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:57:33,095 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:57:35,228 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:57:37,311 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:57:39,395 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:57:41,491 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gup_sc_14898108_1.out b/workspace/outputs/hpc/logs/rr_gup_sc_14898108_1.out new file mode 100644 index 0000000000000000000000000000000000000000..4078570cf95fc2c82762c2efb881424aac34fa1c --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gup_sc_14898108_1.out @@ -0,0 +1,116 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.4, + 0.45, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5707065432065207, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8913162914728341, + "policy_expert_regret": 0.8177589242516652, + "action_mse_to_best": 0.39096053219521826, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.22123893805309736, + "policy_rollout_progress": 0.6329320352689355, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0780292480392795, + "policy_expert_regret": 0.99882721795445, + "action_mse_to_best": 0.326095403600649, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.30434782608695654, + "policy_rollout_progress": 0.5791665403597542, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0551897481225594, + "policy_expert_regret": 1.0551657436476292, + "action_mse_to_best": 0.319761208643246, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.29004565131311355, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.522557810194006, + "policy_expert_regret": 0.3001050222174902, + "action_mse_to_best": 0.573825633937591, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8335262947791332, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.346653885401047, + "policy_expert_regret": 0.3294863182682175, + "action_mse_to_best": 0.35999264198917524, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3901473704602692, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004579566992247, + "policy_expert_regret": 1.140796109542742, + "action_mse_to_best": 0.5005223249996101, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 547, + "retrieval_residual_residual_wrong_gripper": 9, + "retrieval_residual_residual_no_op": 19 + }, + "selected_residual_scale_counts": { + "0.4": 552, + "0.5": 20, + "0.45": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gup_sc_14898108_2.err b/workspace/outputs/hpc/logs/rr_gup_sc_14898108_2.err new file mode 100644 index 0000000000000000000000000000000000000000..636931301f4c8e038c81a052b9e9fac68602d884 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gup_sc_14898108_2.err @@ -0,0 +1,12 @@ +2026-06-29 02:57:59,026 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:58:01,105 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:58:03,201 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:58:05,321 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:58:07,423 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:58:09,544 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:58:11,640 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:58:13,758 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:58:15,893 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:58:17,937 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:58:20,010 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:58:22,133 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gup_sc_14898108_2.out b/workspace/outputs/hpc/logs/rr_gup_sc_14898108_2.out new file mode 100644 index 0000000000000000000000000000000000000000..339123c6bed73ad2d5b5644c9f0f9ad3df237e36 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gup_sc_14898108_2.out @@ -0,0 +1,116 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.4, + 0.45, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3652173913043478, + "policy_rollout_progress": 0.5810759345204513, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8659743947838086, + "policy_expert_regret": 0.7770807707676842, + "action_mse_to_best": 0.4202554577985859, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35520764285562717, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.635682568443243, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878895958189411, + "policy_expert_regret": 0.9808061452902327, + "action_mse_to_best": 0.3359119386948419, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.3195290894903034, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5420316076182038, + "policy_expert_regret": 0.2938225742705375, + "action_mse_to_best": 0.6280809841222234, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7930181010229753, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43470467125425244, + "policy_expert_regret": 0.3976949640724919, + "action_mse_to_best": 0.3930995374327839, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4150477194123798, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.311838612291548, + "policy_expert_regret": 1.162587201760875, + "action_mse_to_best": 0.4978449867417415, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 544, + "retrieval_residual_residual_wrong_gripper": 16, + "retrieval_residual_residual_no_op": 15 + }, + "selected_residual_scale_counts": { + "0.4": 548, + "0.45": 8, + "0.5": 19 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_0.err b/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_0.err new file mode 100644 index 0000000000000000000000000000000000000000..b5eb4462b683163d20e412fcf8cf870501d9ff30 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_0.err @@ -0,0 +1,10 @@ +2026-06-29 03:00:52,913 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:00:55,013 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:00:57,095 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:00:59,219 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:01,305 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:03,420 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:05,509 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:07,677 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:09,785 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:11,867 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_0.out b/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_0.out new file mode 100644 index 0000000000000000000000000000000000000000..6fcd21e76a9a9030ba228b16e16bc93d08d78047 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_0.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.45, + 0.55 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5549358964865299, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.888634605732463, + "policy_expert_regret": 0.8154098589175746, + "action_mse_to_best": 0.3897169904621399, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.3317307692307692, + "policy_rollout_progress": 0.6113688905651753, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9889360053034929, + "policy_expert_regret": 0.9755131378769875, + "action_mse_to_best": 0.3030652105450057, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31211851256016593, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41752934253278684, + "policy_expert_regret": 0.24397330443894902, + "action_mse_to_best": 0.6038731342399275, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014086295632606, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6283786044792926, + "policy_expert_regret": 0.5508279580068081, + "action_mse_to_best": 0.3664056982131714, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.46995881350353513, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0796789195802476, + "policy_expert_regret": 0.917089061454089, + "action_mse_to_best": 0.49594605522173824, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 531, + "retrieval_residual_residual_no_op": 35, + "retrieval_residual_residual_wrong_gripper": 9 + }, + "selected_residual_scale_counts": { + "0.35": 537, + "0.55": 31, + "0.45": 7 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_1.err b/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_1.err new file mode 100644 index 0000000000000000000000000000000000000000..c469111dd3f04f4ccaa24e6a45efad9c5bd863d0 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_1.err @@ -0,0 +1,10 @@ +2026-06-29 03:00:47,965 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:00:49,917 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:00:51,955 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:00:53,940 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:00:55,982 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:00:58,123 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:00,215 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:02,211 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:04,276 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:06,300 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_1.out b/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_1.out new file mode 100644 index 0000000000000000000000000000000000000000..e5f21144d16fa5c748e9e12915221645b448dc7d --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_1.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.45, + 0.55 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5698409637744012, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8921818709049536, + "policy_expert_regret": 0.8154409751360832, + "action_mse_to_best": 0.3928398724855936, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.30434782608695654, + "policy_rollout_progress": 0.5789296915552214, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0554265969270922, + "policy_expert_regret": 1.055402592452162, + "action_mse_to_best": 0.3233320013538975, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.15789473684210525, + "policy_rollout_progress": 0.26812168328385605, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5707975676969478, + "policy_expert_regret": 0.32425887294505773, + "action_mse_to_best": 0.5753377006438217, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8288288288288288, + "policy_rollout_progress": 0.8418052072997566, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3293659638714146, + "policy_expert_regret": 0.31219839673858507, + "action_mse_to_best": 0.3614138618514344, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.39015493189895545, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004503952605384, + "policy_expert_regret": 1.1407885481040556, + "action_mse_to_best": 0.5021651704887767, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 541, + "retrieval_residual_residual_no_op": 25, + "retrieval_residual_residual_wrong_gripper": 9 + }, + "selected_residual_scale_counts": { + "0.35": 548, + "0.45": 5, + "0.55": 22 + } +} diff --git a/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_2.err b/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_2.err new file mode 100644 index 0000000000000000000000000000000000000000..7c455cfdbbbbda51cb849e104518bf9c95b486b7 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_2.err @@ -0,0 +1,12 @@ +2026-06-29 03:01:02,064 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:04,162 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:06,297 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:08,436 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:10,627 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:12,807 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:14,953 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:17,156 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:19,372 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:21,524 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:23,753 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:01:25,949 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_2.out b/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_2.out new file mode 100644 index 0000000000000000000000000000000000000000..b022d62d6d5da617acaebaf8c361aba80d72b219 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_gwide_nb_14898109_2.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.45, + 0.55 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3617391304347826, + "policy_rollout_progress": 0.5792137488550044, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8719000693680573, + "policy_expert_regret": 0.7829079004485096, + "action_mse_to_best": 0.4226158022840062, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6336727752585454, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9949498940541437, + "policy_expert_regret": 0.9878664435254354, + "action_mse_to_best": 0.33851213141749004, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.31857849127027293, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5429822058382342, + "policy_expert_regret": 0.3142229907904443, + "action_mse_to_best": 0.6319371541341146, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7623762376237624, + "policy_rollout_progress": 0.7837252656717112, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.4538984967045265, + "policy_expert_regret": 0.3989962453004157, + "action_mse_to_best": 0.39486069888761727, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4189511916703648, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.311674097014798, + "policy_expert_regret": 1.162422686484125, + "action_mse_to_best": 0.5022096885161267, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 538, + "retrieval_residual_residual_wrong_gripper": 15, + "retrieval_residual_residual_no_op": 22 + }, + "selected_residual_scale_counts": { + "0.35": 542, + "0.45": 9, + "0.55": 24 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_0.err b/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_0.err new file mode 100644 index 0000000000000000000000000000000000000000..12d61edbb8d815acbc9dfdf66f69ddb8f8df5e2a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_0.err @@ -0,0 +1,10 @@ +2026-06-29 03:18:29,721 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:31,753 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:33,774 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:35,887 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:37,977 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:40,075 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:42,116 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:44,220 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:46,297 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:48,356 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_0.out b/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_0.out new file mode 100644 index 0000000000000000000000000000000000000000..3e58945f63bf6068fe1359473316bdcdd672161d --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_0.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.05, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34956521739130436, + "policy_rollout_progress": 0.5555769239228381, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8827982180087787, + "policy_expert_regret": 0.8095734711938902, + "action_mse_to_best": 0.3832832085584169, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160796141395202, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746098971137633, + "policy_expert_regret": 0.9611870296872579, + "action_mse_to_best": 0.3027167360728177, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31257388803067726, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41723848439680483, + "policy_expert_regret": 0.24368244630296704, + "action_mse_to_best": 0.6036040057222565, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36525934506604013, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.29292929292929293, + "policy_rollout_progress": 0.463433347115613, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0761033758671597, + "policy_expert_regret": 0.913513517741001, + "action_mse_to_best": 0.4606080571133079, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 539, + "retrieval_residual_residual_no_op": 28, + "retrieval_residual_residual_wrong_gripper": 8 + }, + "selected_residual_scale_counts": { + "0.35": 542, + "0.45": 29, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_1.err b/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_1.err new file mode 100644 index 0000000000000000000000000000000000000000..23b2ce6620ed2144e1bd7a3b24dd84c6d1f1ed11 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_1.err @@ -0,0 +1,10 @@ +2026-06-29 03:18:50,259 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:52,243 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:54,305 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:56,339 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:58,352 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:19:00,464 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:19:02,530 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:19:04,573 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:19:06,626 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:19:08,727 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_1.out b/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_1.out new file mode 100644 index 0000000000000000000000000000000000000000..2009f7a28cab53457f3787a75b162a6ec394f1c1 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_1.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.05, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5688531251381272, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8949088399760101, + "policy_expert_regret": 0.8212555521532245, + "action_mse_to_best": 0.39020921881918025, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.576910365069204, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.062880706021805, + "policy_expert_regret": 1.062856701546875, + "action_mse_to_best": 0.3202790089316018, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3901400299190165, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004652972404773, + "policy_expert_regret": 1.1408034500839945, + "action_mse_to_best": 0.49897152742186746, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 547, + "retrieval_residual_residual_no_op": 21, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.35": 552, + "0.45": 20, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_2.err b/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_2.err new file mode 100644 index 0000000000000000000000000000000000000000..1d277e0c380537db945023dcf914b19055fb39c7 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_2.err @@ -0,0 +1,12 @@ +2026-06-29 03:18:30,531 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:32,592 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:34,646 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:36,742 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:38,837 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:40,977 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:43,070 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:45,166 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:47,258 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:49,308 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:51,386 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:53,528 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_2.out b/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_2.out new file mode 100644 index 0000000000000000000000000000000000000000..83e80d58694f0dd4c54dd0daf5dda04a4676543a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p05_14898327_2.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.05, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5817048910119837, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8635394800367984, + "policy_expert_regret": 0.7745473111172506, + "action_mse_to_best": 0.41840799059151956, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357579371995397, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878142270626444, + "policy_expert_regret": 0.980730776533936, + "action_mse_to_best": 0.33665372297694585, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.32720364944113195, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5232459365562641, + "policy_expert_regret": 0.29448672150847416, + "action_mse_to_best": 0.6320197155078252, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.3882303135377346, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4121342142422994, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3143251619405216, + "policy_expert_regret": 1.1650737514098486, + "action_mse_to_best": 0.48677315012448363, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 546, + "retrieval_residual_residual_wrong_gripper": 13, + "retrieval_residual_residual_no_op": 16 + }, + "selected_residual_scale_counts": { + "0.35": 550, + "0.45": 22, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_0.err b/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_0.err new file mode 100644 index 0000000000000000000000000000000000000000..c7193a219af018e2fa2b93f9148c6483faf8448e --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_0.err @@ -0,0 +1,10 @@ +2026-06-29 03:18:37,434 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:39,492 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:41,538 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:43,641 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:45,742 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:47,803 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:49,994 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:52,199 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:54,356 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:18:56,517 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_0.out b/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_0.out new file mode 100644 index 0000000000000000000000000000000000000000..a66fba95517f11527f46df629ddccfcfd51ffcc6 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_0.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.1, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5533734318929846, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8867408404734147, + "policy_expert_regret": 0.8135160936585263, + "action_mse_to_best": 0.38254878052064906, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160796141395202, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746098971137633, + "policy_expert_regret": 0.9611870296872579, + "action_mse_to_best": 0.3027167360728177, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31257388803067726, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41723848439680483, + "policy_expert_regret": 0.24368244630296704, + "action_mse_to_best": 0.6036040057222565, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36525934506604013, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4506352873462619, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.099002445737521, + "policy_expert_regret": 0.9364125876113621, + "action_mse_to_best": 0.45634243972223215, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 541, + "retrieval_residual_residual_no_op": 27, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.35": 543, + "0.45": 28, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_1.err b/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_1.err new file mode 100644 index 0000000000000000000000000000000000000000..818aeed0179400c4abe2bbc1e853933673296296 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_1.err @@ -0,0 +1,10 @@ +2026-06-29 03:20:16,860 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:20:18,820 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:20:20,880 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:20:22,864 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:20:24,862 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:20:26,936 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:20:28,981 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:20:30,997 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:20:33,005 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:20:35,033 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_1.out b/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_1.out new file mode 100644 index 0000000000000000000000000000000000000000..3a21d5eaa5eec1cad58d20295d3eb82b78c63a74 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_1.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.1, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5688509140714355, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8949110510427019, + "policy_expert_regret": 0.8212577632199163, + "action_mse_to_best": 0.3901110628749365, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.576895718705719, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0628953523852902, + "policy_expert_regret": 1.0628713479103602, + "action_mse_to_best": 0.32016187754419184, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3901556735182857, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004496536412082, + "policy_expert_regret": 1.1407878064847254, + "action_mse_to_best": 0.49858814838168386, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 547, + "retrieval_residual_residual_no_op": 21, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.35": 552, + "0.45": 18, + "0.4": 5 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_2.err b/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_2.err new file mode 100644 index 0000000000000000000000000000000000000000..694369703dfbd4b04cbc5885fc34d83bf019d593 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_2.err @@ -0,0 +1,12 @@ +2026-06-29 03:23:21,696 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:23,710 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:25,862 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:27,979 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:30,086 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:32,189 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:34,291 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:36,388 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:38,455 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:40,543 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:42,597 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:44,695 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_2.out b/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_2.out new file mode 100644 index 0000000000000000000000000000000000000000..3459d1b9acca877fb8567b457d7ef77523f66d49 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p10_14898329_2.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.1, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5817170690313208, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8635273020174614, + "policy_expert_regret": 0.774565764883721, + "action_mse_to_best": 0.4180657532641097, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357043467161029, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878678175460811, + "policy_expert_regret": 0.9807843670173727, + "action_mse_to_best": 0.3357455680955841, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.3273993525171237, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5230502334802724, + "policy_expert_regret": 0.29448672150847416, + "action_mse_to_best": 0.6327913638618258, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.38737466850198143, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4121342142422994, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3143251619405216, + "policy_expert_regret": 1.1650737514098486, + "action_mse_to_best": 0.48677315012448363, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 549, + "retrieval_residual_residual_wrong_gripper": 12, + "retrieval_residual_residual_no_op": 14 + }, + "selected_residual_scale_counts": { + "0.35": 552, + "0.45": 20, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_0.err b/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_0.err new file mode 100644 index 0000000000000000000000000000000000000000..7822b9aaa0b191d754be4fc182124d636c830c7f --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_0.err @@ -0,0 +1,10 @@ +2026-06-29 03:23:34,015 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:36,060 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:38,238 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:40,388 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:42,543 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:44,693 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:46,816 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:48,947 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:51,056 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:53,145 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_0.out b/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_0.out new file mode 100644 index 0000000000000000000000000000000000000000..9f93a7ac1a98e46ac7d6d634c3169dcd389a303a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_0.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.2, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5529800866600936, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8871341857063058, + "policy_expert_regret": 0.8139094388914173, + "action_mse_to_best": 0.3821194328189544, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160796141395202, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746098971137633, + "policy_expert_regret": 0.9611870296872579, + "action_mse_to_best": 0.3027167360728177, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096365697331146, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201758026943675, + "policy_expert_regret": 0.24661976460052967, + "action_mse_to_best": 0.6003978378199911, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36525934506604013, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4506352873462619, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.099002445737521, + "policy_expert_regret": 0.9364125876113621, + "action_mse_to_best": 0.45634243972223215, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 542, + "retrieval_residual_residual_no_op": 26, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.35": 544, + "0.45": 27, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_1.err b/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_1.err new file mode 100644 index 0000000000000000000000000000000000000000..0ceff7583d1c244d091c5fd9278b65a8fff5aa6c --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_1.err @@ -0,0 +1,10 @@ +2026-06-29 03:23:37,522 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:39,574 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:41,724 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:43,841 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:45,957 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:48,198 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:50,360 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:52,542 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:54,689 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:56,899 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_1.out b/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_1.out new file mode 100644 index 0000000000000000000000000000000000000000..240041dc866928f437ac13f9e528864e4771f5e1 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_1.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.2, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5688128784590442, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8949490866550933, + "policy_expert_regret": 0.8212957988323077, + "action_mse_to_best": 0.38981207975712806, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.5767873519646894, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0630037191263197, + "policy_expert_regret": 1.0629797146513895, + "action_mse_to_best": 0.3198382667589771, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.39013445377349854, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004708733859953, + "policy_expert_regret": 1.1408090262295125, + "action_mse_to_best": 0.49735330323596577, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 549, + "retrieval_residual_residual_no_op": 20, + "retrieval_residual_residual_wrong_gripper": 6 + }, + "selected_residual_scale_counts": { + "0.35": 554, + "0.45": 18, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_2.err b/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_2.err new file mode 100644 index 0000000000000000000000000000000000000000..a69d1f2c554d3831bb9834596ea0a7aa33a7686c --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_2.err @@ -0,0 +1,12 @@ +2026-06-29 03:23:45,668 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:47,671 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:49,769 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:51,798 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:53,898 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:55,964 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:23:58,039 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:24:00,113 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:24:02,218 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:24:04,227 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:24:06,296 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 03:24:08,361 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_2.out b/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_2.out new file mode 100644 index 0000000000000000000000000000000000000000..a455f9d5c406dbd2baa30021b79c5a5e15558b43 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_0p20_14898331_2.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.2, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5817182351054931, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8635261359432891, + "policy_expert_regret": 0.7745645988095488, + "action_mse_to_best": 0.4175848670846418, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35425721921395353, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357043467161029, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878678175460811, + "policy_expert_regret": 0.9807843670173727, + "action_mse_to_best": 0.3357455680955841, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.3273993525171237, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5230502334802724, + "policy_expert_regret": 0.29448672150847416, + "action_mse_to_best": 0.6327913638618258, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.38549645444249164, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4121416641606225, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3143177120221985, + "policy_expert_regret": 1.1650663014915255, + "action_mse_to_best": 0.4859846488883098, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 550, + "retrieval_residual_residual_wrong_gripper": 11, + "retrieval_residual_residual_no_op": 14 + }, + "selected_residual_scale_counts": { + "0.35": 553, + "0.4": 6, + "0.45": 16 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2_smoke_14898293_0.err b/workspace/outputs/hpc/logs/rr_l2_smoke_14898293_0.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/rr_l2_smoke_14898293_0.out b/workspace/outputs/hpc/logs/rr_l2_smoke_14898293_0.out new file mode 100644 index 0000000000000000000000000000000000000000..c953e12b65ac07f48d3eab90d4c44721dbfaeea5 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2_smoke_14898293_0.out @@ -0,0 +1,93 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 4, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.5, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.35738915391266346, + "oracle_success_rate": 0.75, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.042302681133151, + "policy_expert_regret": 0.7562528382986784, + "action_mse_to_best": 0.34660169295966625, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "PickCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.5533341951668262, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.24604947492480278, + "policy_expert_regret": 0.24604947492480278, + "action_mse_to_best": 0.34424643218517303, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.12671983242034912, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8732801675796509, + "policy_expert_regret": 1.8732801675796509, + "action_mse_to_best": 0.5963353514671326, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.19616839289665222, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.0, + "policy_oracle_regret": 1.8038316071033478, + "policy_expert_regret": 0.6596322357654572, + "action_mse_to_best": 0.10157855600118637, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 4 + }, + "selected_residual_scale_counts": { + "0.35": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2comp002_14913944_0.err b/workspace/outputs/hpc/logs/rr_l2comp002_14913944_0.err new file mode 100644 index 0000000000000000000000000000000000000000..58681000ec9652fa63e2b7c5106cfbac16364247 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp002_14913944_0.err @@ -0,0 +1,10 @@ +2026-06-29 12:42:42,029 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:44,052 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:46,172 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:48,280 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:50,412 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:52,531 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:54,636 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:56,740 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:58,809 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:00,883 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2comp002_14913944_0.out b/workspace/outputs/hpc/logs/rr_l2comp002_14913944_0.out new file mode 100644 index 0000000000000000000000000000000000000000..569c4f76b5d380a16dd2dfbc42bb43b786e2ef10 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp002_14913944_0.out @@ -0,0 +1,129 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.02, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "policy_rollout_success_rate": 0.35304347826086957, + "policy_rollout_progress": 0.5580391604931134, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8768356895519663, + "policy_expert_regret": 0.8061779868189731, + "action_mse_to_best": 0.40025916028443886, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714445269292163, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047678443881654, + "policy_expert_regret": 1.0783523666797226, + "action_mse_to_best": 0.3327169909631622, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34615384615384615, + "policy_rollout_progress": 0.6181530872216592, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9677287317239321, + "policy_expert_regret": 0.9543058642974267, + "action_mse_to_best": 0.30273104519941485, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31240937069614794, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41723848439680483, + "policy_expert_regret": 0.24368244630296704, + "action_mse_to_best": 0.6033577046224049, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.3675119048578942, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.30303030303030304, + "policy_rollout_progress": 0.4735243007390186, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.055911412142744, + "policy_expert_regret": 0.9082311534821385, + "action_mse_to_best": 0.5444722154149504, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 528, + "retrieval_residual_residual_near_miss": 4, + "retrieval_residual_residual_near_miss+residual_no_op": 6, + "retrieval_residual_residual_no_op": 26, + "retrieval_residual_residual_wrong_gripper": 4, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 5 + }, + "selected_residual_scale_counts": { + "0.35": 532, + "0.45": 39, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2comp002_14913944_1.err b/workspace/outputs/hpc/logs/rr_l2comp002_14913944_1.err new file mode 100644 index 0000000000000000000000000000000000000000..4f286bd71ee4d4e5f90b065b3d1d4ffdadba3cd4 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp002_14913944_1.err @@ -0,0 +1,10 @@ +2026-06-29 12:42:40,662 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:42,740 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:44,855 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:46,941 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:49,021 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:51,233 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:53,424 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:55,507 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:57,592 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:59,690 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2comp002_14913944_1.out b/workspace/outputs/hpc/logs/rr_l2comp002_14913944_1.out new file mode 100644 index 0000000000000000000000000000000000000000..b865f0598898e1865412c8c64f3f32844386914d --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp002_14913944_1.out @@ -0,0 +1,129 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.02, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5702176707529504, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8935442943611871, + "policy_expert_regret": 0.8198650143133558, + "action_mse_to_best": 0.3954629489504125, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.576910365069204, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.062880706021805, + "policy_expert_regret": 1.062856701546875, + "action_mse_to_best": 0.3202790089316018, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.278127328541718, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5476340277022437, + "policy_expert_regret": 0.32425887294505773, + "action_mse_to_best": 0.5793679281088867, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.3571035131677851, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3985208471070279, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.292084480052466, + "policy_expert_regret": 1.1324226328959832, + "action_mse_to_best": 0.5268044121317811, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 543, + "retrieval_residual_residual_no_op": 17, + "retrieval_residual_residual_near_miss+residual_no_op": 2, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 4, + "retrieval_residual_residual_wrong_gripper": 5, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2, + "retrieval_residual_residual_near_miss": 2 + }, + "selected_residual_scale_counts": { + "0.35": 549, + "0.45": 23, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2comp002_14913944_2.err b/workspace/outputs/hpc/logs/rr_l2comp002_14913944_2.err new file mode 100644 index 0000000000000000000000000000000000000000..9cef9d39413d8fd9adfaaf0f1144df099c3b1e0c --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp002_14913944_2.err @@ -0,0 +1,12 @@ +2026-06-29 12:43:34,509 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:36,553 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:38,615 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:40,690 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:42,827 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:44,929 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:47,002 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:49,146 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:51,263 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:53,326 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:55,413 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:57,561 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2comp002_14913944_2.out b/workspace/outputs/hpc/logs/rr_l2comp002_14913944_2.out new file mode 100644 index 0000000000000000000000000000000000000000..f56e6c063ff4ba2e3c3594cfbddfc7a2f026d04b --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp002_14913944_2.out @@ -0,0 +1,128 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.02, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5827344316751639, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8625619149348431, + "policy_expert_regret": 0.7715710618163354, + "action_mse_to_best": 0.42793387292114937, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357579371995397, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878142270626444, + "policy_expert_regret": 0.980730776533936, + "action_mse_to_best": 0.33665372297694585, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.3275922458963881, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5228573401010079, + "policy_expert_regret": 0.2941978946190122, + "action_mse_to_best": 0.6442032671637006, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8015174488029858, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.41630433337523204, + "policy_expert_regret": 0.3614020819711213, + "action_mse_to_best": 0.397049247997232, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.14444444444444443, + "policy_rollout_progress": 0.40787654883331725, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3300260045462184, + "policy_expert_regret": 1.1679054531786177, + "action_mse_to_best": 0.525552598014474, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 540, + "retrieval_residual_residual_wrong_gripper": 11, + "retrieval_residual_residual_no_op": 16, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 5, + "retrieval_residual_residual_near_miss+residual_no_op": 1, + "retrieval_residual_residual_near_miss": 2 + }, + "selected_residual_scale_counts": { + "0.35": 547, + "0.45": 25, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2comp005_14913951_0.err b/workspace/outputs/hpc/logs/rr_l2comp005_14913951_0.err new file mode 100644 index 0000000000000000000000000000000000000000..e740ce04d6422c7a67d8b497739622d071cdae24 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp005_14913951_0.err @@ -0,0 +1,10 @@ +2026-06-29 12:42:28,546 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:30,627 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:32,720 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:34,869 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:36,978 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:39,049 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:41,132 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:43,218 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:45,349 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:47,430 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2comp005_14913951_0.out b/workspace/outputs/hpc/logs/rr_l2comp005_14913951_0.out new file mode 100644 index 0000000000000000000000000000000000000000..a5c793fbf55dc83685c86800a3b52464049fc740 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp005_14913951_0.out @@ -0,0 +1,129 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.05, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "policy_rollout_success_rate": 0.35304347826086957, + "policy_rollout_progress": 0.5575822278395619, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8772926222055178, + "policy_expert_regret": 0.8066349194725246, + "action_mse_to_best": 0.39534642129002706, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714445269292163, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047678443881654, + "policy_expert_regret": 1.0783523666797226, + "action_mse_to_best": 0.3327169909631622, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34615384615384615, + "policy_rollout_progress": 0.6181530872216592, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9677287317239321, + "policy_expert_regret": 0.9543058642974267, + "action_mse_to_best": 0.30273104519941485, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31240937069614794, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41723848439680483, + "policy_expert_regret": 0.24368244630296704, + "action_mse_to_best": 0.6033577046224049, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.3675119048578942, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.30303030303030304, + "policy_rollout_progress": 0.4708703989633406, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.058565313918422, + "policy_expert_regret": 0.9108850552578165, + "action_mse_to_best": 0.515938630346397, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 528, + "retrieval_residual_residual_near_miss": 5, + "retrieval_residual_residual_near_miss+residual_no_op": 5, + "retrieval_residual_residual_no_op": 26, + "retrieval_residual_residual_wrong_gripper": 6, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 3 + }, + "selected_residual_scale_counts": { + "0.35": 532, + "0.45": 38, + "0.4": 5 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2comp005_14913951_1.err b/workspace/outputs/hpc/logs/rr_l2comp005_14913951_1.err new file mode 100644 index 0000000000000000000000000000000000000000..76e018860074f1395f4ef5ed07b261bd3a3d1138 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp005_14913951_1.err @@ -0,0 +1,10 @@ +2026-06-29 12:43:23,075 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:25,056 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:27,181 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:29,292 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:31,399 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:33,524 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:35,599 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:37,697 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:39,845 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:41,928 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2comp005_14913951_1.out b/workspace/outputs/hpc/logs/rr_l2comp005_14913951_1.out new file mode 100644 index 0000000000000000000000000000000000000000..77a7a52bb4bfaade4f495c222eddf9024ba77ba2 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp005_14913951_1.out @@ -0,0 +1,129 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.05, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5696634550133477, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8940985101007897, + "policy_expert_regret": 0.8204452222780041, + "action_mse_to_best": 0.3933826872949367, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.576910365069204, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.062880706021805, + "policy_expert_regret": 1.062856701546875, + "action_mse_to_best": 0.3202790089316018, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2783239802443667, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.547437375999595, + "policy_expert_regret": 0.32425887294505773, + "action_mse_to_best": 0.5788939923636223, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.3571035131677851, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.39485469787985417, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.2957506292796397, + "policy_expert_regret": 1.136088782123157, + "action_mse_to_best": 0.5140557161399296, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 544, + "retrieval_residual_residual_no_op": 18, + "retrieval_residual_residual_near_miss+residual_no_op": 2, + "retrieval_residual_residual_wrong_gripper": 5, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 2, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 2, + "retrieval_residual_residual_near_miss": 2 + }, + "selected_residual_scale_counts": { + "0.35": 550, + "0.45": 22, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2comp005_14913951_2.err b/workspace/outputs/hpc/logs/rr_l2comp005_14913951_2.err new file mode 100644 index 0000000000000000000000000000000000000000..2a1eb6e829b5546906d42e80ddca9737dccdbbfe --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp005_14913951_2.err @@ -0,0 +1,12 @@ +2026-06-29 12:42:54,972 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:57,027 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:42:59,124 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:01,235 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:03,466 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:05,565 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:07,673 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:09,790 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:11,891 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:13,940 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:16,081 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:43:18,201 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2comp005_14913951_2.out b/workspace/outputs/hpc/logs/rr_l2comp005_14913951_2.out new file mode 100644 index 0000000000000000000000000000000000000000..4bee68358bef1ff30f97c35ba81ba02f162abbb1 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp005_14913951_2.out @@ -0,0 +1,129 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.05, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "policy_rollout_success_rate": 0.3652173913043478, + "policy_rollout_progress": 0.581099297610531, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8659361794342587, + "policy_expert_regret": 0.774945326315751, + "action_mse_to_best": 0.4267642699983781, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357579371995397, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878142270626444, + "policy_expert_regret": 0.980730776533936, + "action_mse_to_best": 0.33665372297694585, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.3275922458963881, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5228573401010079, + "policy_expert_regret": 0.2941978946190122, + "action_mse_to_best": 0.6442032671637006, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.3903906174963064, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.14444444444444443, + "policy_rollout_progress": 0.40787654883331725, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3300260045462184, + "policy_expert_regret": 1.1679054531786177, + "action_mse_to_best": 0.525552598014474, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 541, + "retrieval_residual_residual_wrong_gripper": 11, + "retrieval_residual_residual_no_op": 16, + "retrieval_residual_residual_no_op+residual_wrong_gripper": 3, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss+residual_no_op": 1, + "retrieval_residual_residual_near_miss": 2 + }, + "selected_residual_scale_counts": { + "0.35": 546, + "0.45": 26, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_l2comp_smoke_14913943_0.err b/workspace/outputs/hpc/logs/rr_l2comp_smoke_14913943_0.err new file mode 100644 index 0000000000000000000000000000000000000000..aa81ba3fa8f59eb71b93f63e7742fa7f3f830d8a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp_smoke_14913943_0.err @@ -0,0 +1,2 @@ +2026-06-29 12:38:37,965 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 12:38:39,571 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_l2comp_smoke_14913943_0.out b/workspace/outputs/hpc/logs/rr_l2comp_smoke_14913943_0.out new file mode 100644 index 0000000000000000000000000000000000000000..7b9a366682c1a1cd704c327d3bd9edb2dc8804e6 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_l2comp_smoke_14913943_0.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 8, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_composite_l2_penalty_scale": 0.02, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "candidate_type_bonus_components": false, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.42129452247172594, + "oracle_success_rate": 0.75, + "expert_success_rate": 0.625, + "policy_oracle_regret": 0.9274231595918536, + "policy_expert_regret": 0.7677409974858165, + "action_mse_to_best": 0.31736957002431154, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.7081606388092041, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.291839361190796, + "policy_expert_regret": 1.291839361190796, + "action_mse_to_best": 0.1640373021364212, + "restore_max_error": 1.4901161193847656e-08 + }, + "PickCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.5533341951668262, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.24604947492480278, + "policy_expert_regret": 0.24604947492480278, + "action_mse_to_best": 0.34424643218517303, + "restore_max_error": 1.4901161193847656e-08 + }, + "PullCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.528858095407486, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.06662896275520325, + "policy_expert_regret": 0.0, + "action_mse_to_best": 0.30013594031333923, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.12671983242034912, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8732801675796509, + "policy_expert_regret": 1.8732801675796509, + "action_mse_to_best": 0.5963353514671326, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.18554556369781494, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.814454436302185, + "policy_expert_regret": 1.2423547506332397, + "action_mse_to_best": 0.24490958079695702, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 8 + }, + "selected_residual_scale_counts": { + "0.35": 8 + } +} diff --git a/workspace/outputs/hpc/logs/rr_m15_nb_14897841_0.err b/workspace/outputs/hpc/logs/rr_m15_nb_14897841_0.err new file mode 100644 index 0000000000000000000000000000000000000000..75278b8f4e0f6ae9745aa6125389508c1611201d --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m15_nb_14897841_0.err @@ -0,0 +1,10 @@ +2026-06-29 02:21:02,080 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:04,091 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:06,138 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:08,221 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:10,280 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:12,347 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:14,414 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:16,568 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:18,659 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:20,712 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_m15_nb_14897841_0.out b/workspace/outputs/hpc/logs/rr_m15_nb_14897841_0.out new file mode 100644 index 0000000000000000000000000000000000000000..1dedcf6479dee1acbb8eb4113527c6351213459a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m15_nb_14897841_0.out @@ -0,0 +1,112 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.15, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5523235452620555, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8912055169831475, + "policy_expert_regret": 0.8185596776113886, + "action_mse_to_best": 0.3823875710076612, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.3317307692307692, + "policy_rollout_progress": 0.6117302116293174, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9885746842393508, + "policy_expert_regret": 0.9751518168128454, + "action_mse_to_best": 0.3028401227023166, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31198027027867636, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.417358130464548, + "policy_expert_regret": 0.24377496006547825, + "action_mse_to_best": 0.602680013357819, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.3648170846256804, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4541373022577979, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0955004308259848, + "policy_expert_regret": 0.936294016813991, + "action_mse_to_best": 0.4562854700712393, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 533, + "retrieval_residual_residual_no_op": 32, + "retrieval_residual_residual_wrong_gripper": 10 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_m15_nb_14897841_1.err b/workspace/outputs/hpc/logs/rr_m15_nb_14897841_1.err new file mode 100644 index 0000000000000000000000000000000000000000..9417b15be8b1bacf9741dd47e25454f97e229dcd --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m15_nb_14897841_1.err @@ -0,0 +1,10 @@ +2026-06-29 02:21:02,695 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:04,684 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:06,750 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:08,809 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:10,839 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:12,990 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:15,105 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:17,176 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:19,285 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:21,362 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_m15_nb_14897841_1.out b/workspace/outputs/hpc/logs/rr_m15_nb_14897841_1.out new file mode 100644 index 0000000000000000000000000000000000000000..09b5ec1783bb0e8607a8ae138f2b8489eef8cff8 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m15_nb_14897841_1.out @@ -0,0 +1,112 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.15, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5681803968581168, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.897331903586569, + "policy_expert_regret": 0.8172941304127808, + "action_mse_to_best": 0.3907143801985228, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.32591217734018524, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5742997661253194, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0709260875743853, + "policy_expert_regret": 1.0709020830994553, + "action_mse_to_best": 0.32066392843894986, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.19736842105263158, + "policy_rollout_progress": 0.30145413193263504, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.49807620872008174, + "policy_expert_regret": 0.27507759513039337, + "action_mse_to_best": 0.5747318939354858, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8181245796852283, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.38007361851296984, + "policy_expert_regret": 0.32971009934270706, + "action_mse_to_best": 0.35852213203907013, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3900747852666037, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.30053054189289, + "policy_expert_regret": 1.1408686947364073, + "action_mse_to_best": 0.49840603457702387, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 533, + "retrieval_residual_residual_wrong_gripper": 11, + "retrieval_residual_residual_no_op": 31 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_m15_nb_14897841_2.err b/workspace/outputs/hpc/logs/rr_m15_nb_14897841_2.err new file mode 100644 index 0000000000000000000000000000000000000000..47c66c60aae44b5dc9cc3701390e87499eb8df97 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m15_nb_14897841_2.err @@ -0,0 +1,12 @@ +2026-06-29 02:20:59,630 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:01,668 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:03,712 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:05,744 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:07,829 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:09,915 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:11,979 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:14,087 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:16,146 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:18,159 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:20,197 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:22,311 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_m15_nb_14897841_2.out b/workspace/outputs/hpc/logs/rr_m15_nb_14897841_2.out new file mode 100644 index 0000000000000000000000000000000000000000..6d05cb5f42986961b7d258bf5a626471c0eb5176 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m15_nb_14897841_2.out @@ -0,0 +1,112 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.15, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3634782608695652, + "policy_rollout_progress": 0.5795893240579671, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8691333078603803, + "policy_expert_regret": 0.782256249592139, + "action_mse_to_best": 0.4186715232167879, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3229166666666667, + "policy_rollout_progress": 0.6430536963356038, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9676381602572898, + "policy_expert_regret": 0.8613684703595936, + "action_mse_to_best": 0.35600885640693986, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6293243706282793, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9992982986844098, + "policy_expert_regret": 0.9922148481557014, + "action_mse_to_best": 0.33722431380113566, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.3170783835083866, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5444823136001206, + "policy_expert_regret": 0.316321184969052, + "action_mse_to_best": 0.6341538776954015, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8008749307972369, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.41694685138098087, + "policy_expert_regret": 0.3620445999768701, + "action_mse_to_best": 0.38620124661391325, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4166562063826455, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3098031698001755, + "policy_expert_regret": 1.1734668797916836, + "action_mse_to_best": 0.4856520733485619, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 532, + "retrieval_residual_residual_wrong_gripper": 16, + "retrieval_residual_residual_no_op": 27 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_m15_sc_14897843_0.err b/workspace/outputs/hpc/logs/rr_m15_sc_14897843_0.err new file mode 100644 index 0000000000000000000000000000000000000000..fd8eaa239e6257be1cf408474e7dc2ff57c8e533 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m15_sc_14897843_0.err @@ -0,0 +1,10 @@ +2026-06-29 02:21:33,860 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:35,832 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:37,858 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:39,917 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:41,968 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:44,007 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:46,058 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:48,110 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:50,141 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:52,175 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_m15_sc_14897843_0.out b/workspace/outputs/hpc/logs/rr_m15_sc_14897843_0.out new file mode 100644 index 0000000000000000000000000000000000000000..4c04911e46ff283efc209c51505071ee0896ee39 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m15_sc_14897843_0.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.15, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5518181501450422, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8917743830909224, + "policy_expert_regret": 0.8160617299807137, + "action_mse_to_best": 0.3825673672265333, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.33653846153846156, + "policy_rollout_progress": 0.6138279033968081, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9816693001641676, + "policy_expert_regret": 0.9682464327376622, + "action_mse_to_best": 0.3028400198269922, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.312481374268166, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41733099815931607, + "policy_expert_regret": 0.24377496006547825, + "action_mse_to_best": 0.6028722151146306, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932619321853557, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.647163599729538, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.3657596876963656, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4541373022577979, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0955004308259848, + "policy_expert_regret": 0.936294016813991, + "action_mse_to_best": 0.4562854700712393, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 533, + "retrieval_residual_residual_no_op": 31, + "retrieval_residual_residual_wrong_gripper": 11 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_m15_sc_14897843_1.err b/workspace/outputs/hpc/logs/rr_m15_sc_14897843_1.err new file mode 100644 index 0000000000000000000000000000000000000000..ef2e3f1304c5bd335bb0f3bdd32ec1b4712dbc93 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m15_sc_14897843_1.err @@ -0,0 +1,10 @@ +2026-06-29 02:25:45,718 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:25:47,709 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:25:49,814 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:25:51,902 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:25:53,916 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:25:56,096 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:25:58,175 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:00,281 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:02,310 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:04,382 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_m15_sc_14897843_1.out b/workspace/outputs/hpc/logs/rr_m15_sc_14897843_1.out new file mode 100644 index 0000000000000000000000000000000000000000..3abf731150e20dfa28fa552f676b9a0db7bf4a90 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m15_sc_14897843_1.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.15, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3426086956521739, + "policy_rollout_progress": 0.5673385079528974, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8999190129145332, + "policy_expert_regret": 0.8199417093396186, + "action_mse_to_best": 0.38947549535042564, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.32591217734018524, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.28804347826086957, + "policy_rollout_progress": 0.5718879296808786, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.078772706627522, + "policy_expert_regret": 1.0787487021525917, + "action_mse_to_best": 0.32020813366398215, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.19736842105263158, + "policy_rollout_progress": 0.301306704451379, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.4982697117681566, + "policy_expert_regret": 0.27572859843310554, + "action_mse_to_best": 0.5775285522992674, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8181245796852283, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.38007361851296984, + "policy_expert_regret": 0.32971009934270706, + "action_mse_to_best": 0.3588964073239146, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.38975496410013555, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3008503630593582, + "policy_expert_regret": 1.1411885159028756, + "action_mse_to_best": 0.48870731873826667, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 537, + "retrieval_residual_residual_wrong_gripper": 12, + "retrieval_residual_residual_no_op": 26 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_m15_sc_14897843_2.err b/workspace/outputs/hpc/logs/rr_m15_sc_14897843_2.err new file mode 100644 index 0000000000000000000000000000000000000000..b1d14922439c743883a1cadeb7d6c9c75dd80b66 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m15_sc_14897843_2.err @@ -0,0 +1,12 @@ +2026-06-29 02:25:51,470 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:25:53,480 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:25:55,526 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:25:57,572 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:25:59,650 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:01,739 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:03,772 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:05,930 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:08,012 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:10,080 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:12,115 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:14,308 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_m15_sc_14897843_2.out b/workspace/outputs/hpc/logs/rr_m15_sc_14897843_2.out new file mode 100644 index 0000000000000000000000000000000000000000..ddb3e19c825089b314bd6fd4faf889691397d815 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m15_sc_14897843_2.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.15, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3617391304347826, + "policy_rollout_progress": 0.579902403479902, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.870559358873228, + "policy_expert_regret": 0.7803934644626956, + "action_mse_to_best": 0.4174126027986083, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3229166666666667, + "policy_rollout_progress": 0.6430536963356038, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9676381602572898, + "policy_expert_regret": 0.8613684703595936, + "action_mse_to_best": 0.35600885640693986, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6335929022123566, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9950297671003323, + "policy_expert_regret": 0.987946316571624, + "action_mse_to_best": 0.33793259948266274, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.31966421826984714, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.54189647883866, + "policy_expert_regret": 0.3138087842889339, + "action_mse_to_best": 0.6262982385026084, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7919850920391555, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43573768023807224, + "policy_expert_regret": 0.36204642042665197, + "action_mse_to_best": 0.3846456795045645, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4166562063826455, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3098031698001755, + "policy_expert_regret": 1.1734668797916836, + "action_mse_to_best": 0.4856520733485619, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 534, + "retrieval_residual_residual_wrong_gripper": 20, + "retrieval_residual_residual_no_op": 21 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_m25_nb_14897842_0.err b/workspace/outputs/hpc/logs/rr_m25_nb_14897842_0.err new file mode 100644 index 0000000000000000000000000000000000000000..14719b99676b0289edd85c0daa2a537f7dbdeaac --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m25_nb_14897842_0.err @@ -0,0 +1,10 @@ +2026-06-29 02:21:55,553 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:57,584 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:59,602 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:22:01,652 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:22:03,683 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:22:05,782 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:22:07,828 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:22:09,927 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:22:11,948 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:22:14,050 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_m25_nb_14897842_0.out b/workspace/outputs/hpc/logs/rr_m25_nb_14897842_0.out new file mode 100644 index 0000000000000000000000000000000000000000..06956388e7185be862dc3404617e52bace4a0337 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m25_nb_14897842_0.out @@ -0,0 +1,112 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.25, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5509842345887876, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8908691682123944, + "policy_expert_regret": 0.8145538104527994, + "action_mse_to_best": 0.3818597935172527, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6161401323401011, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745493789131825, + "policy_expert_regret": 0.961126511486677, + "action_mse_to_best": 0.30260571095949185, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096777588649133, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201346135625688, + "policy_expert_regret": 0.246578575468731, + "action_mse_to_best": 0.6022381962506802, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6931385895673264, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472869423475671, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.3655355303211415, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4467335399052109, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.102904193178572, + "policy_expert_regret": 0.9403143350524131, + "action_mse_to_best": 0.4533740721661786, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 555, + "retrieval_residual_residual_no_op": 15, + "retrieval_residual_residual_wrong_gripper": 5 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_m25_nb_14897842_1.err b/workspace/outputs/hpc/logs/rr_m25_nb_14897842_1.err new file mode 100644 index 0000000000000000000000000000000000000000..c603695fc9d7f7ad137a6b7fa0123d1362decfab --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m25_nb_14897842_1.err @@ -0,0 +1,10 @@ +2026-06-29 02:21:30,583 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:32,616 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:34,739 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:36,847 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:38,914 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:41,152 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:43,289 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:45,399 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:47,533 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:49,629 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_m25_nb_14897842_1.out b/workspace/outputs/hpc/logs/rr_m25_nb_14897842_1.out new file mode 100644 index 0000000000000000000000000000000000000000..fda29639fb4eb41d00cd9069f2dc63ebd664b22f --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m25_nb_14897842_1.out @@ -0,0 +1,112 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.25, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3356521739130435, + "policy_rollout_progress": 0.5622477454109036, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9119490023119294, + "policy_expert_regret": 0.8288683214103398, + "action_mse_to_best": 0.3877675680119706, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.2826086956521739, + "policy_rollout_progress": 0.5695751944820032, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0865202244350929, + "policy_expert_regret": 1.0864962199601629, + "action_mse_to_best": 0.3196303805781771, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.15789473684210525, + "policy_rollout_progress": 0.2680386659738265, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5708805850069774, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5749371756652468, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8182225338779054, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3799756643202928, + "policy_expert_regret": 0.32969123205623113, + "action_mse_to_best": 0.35521260870469584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3899291709556684, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3006761562038254, + "policy_expert_regret": 1.1410143090473426, + "action_mse_to_best": 0.48616488654534895, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 563, + "retrieval_residual_residual_no_op": 9, + "retrieval_residual_residual_wrong_gripper": 3 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_m25_nb_14897842_2.err b/workspace/outputs/hpc/logs/rr_m25_nb_14897842_2.err new file mode 100644 index 0000000000000000000000000000000000000000..24f7911d369bfdb8013abdc111e8a40cbccf899a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m25_nb_14897842_2.err @@ -0,0 +1,12 @@ +2026-06-29 02:21:11,356 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:13,407 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:15,587 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:17,641 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:19,778 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:21,893 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:23,952 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:26,097 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:28,176 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:30,214 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:32,263 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:21:34,373 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_m25_nb_14897842_2.out b/workspace/outputs/hpc/logs/rr_m25_nb_14897842_2.out new file mode 100644 index 0000000000000000000000000000000000000000..0bb2a46e5dabfd3b71b02d4368337f4e299f7769 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m25_nb_14897842_2.out @@ -0,0 +1,112 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.25, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3634782608695652, + "policy_rollout_progress": 0.5790474178598853, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.869675214058462, + "policy_expert_regret": 0.7827346328656732, + "action_mse_to_best": 0.415737988413514, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35361564661434386, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3282828282828283, + "policy_rollout_progress": 0.6313787720194368, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0022944023437572, + "policy_expert_regret": 0.9952109518150488, + "action_mse_to_best": 0.3353077946701134, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.31892168570862445, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5426390113998827, + "policy_expert_regret": 0.3140720418619821, + "action_mse_to_best": 0.6283310380246904, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7915659992411586, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.4361567730360692, + "policy_expert_regret": 0.38125452163195844, + "action_mse_to_best": 0.3824400347795817, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.16666666666666666, + "policy_rollout_progress": 0.4137930886612998, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.30155517641041, + "policy_expert_regret": 1.1652188864019182, + "action_mse_to_best": 0.4837228998127911, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 563, + "retrieval_residual_residual_no_op": 5, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_m25_sc_14897844_0.err b/workspace/outputs/hpc/logs/rr_m25_sc_14897844_0.err new file mode 100644 index 0000000000000000000000000000000000000000..2c0ff12483bd0a00309f88db182fb286799c4c57 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m25_sc_14897844_0.err @@ -0,0 +1,10 @@ +2026-06-29 02:26:58,701 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:27:00,797 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:27:02,944 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:27:05,089 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:27:07,246 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:27:09,347 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:27:11,494 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:27:13,615 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:27:15,726 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:27:17,821 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_m25_sc_14897844_0.out b/workspace/outputs/hpc/logs/rr_m25_sc_14897844_0.out new file mode 100644 index 0000000000000000000000000000000000000000..85a94c19d30275c101cb1ca1bd8f3686cddfa62c --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m25_sc_14897844_0.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.25, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5509842345887876, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8908691682123944, + "policy_expert_regret": 0.8145538104527994, + "action_mse_to_best": 0.3809117384157751, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6161401323401011, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745493789131825, + "policy_expert_regret": 0.961126511486677, + "action_mse_to_best": 0.30260571095949185, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096777588649133, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201346135625688, + "policy_expert_regret": 0.246578575468731, + "action_mse_to_best": 0.6022381962506802, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6931385895673264, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472869423475671, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.3655355303211415, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4467335399052109, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.102904193178572, + "policy_expert_regret": 0.9403143350524131, + "action_mse_to_best": 0.44786769152628353, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 556, + "retrieval_residual_residual_no_op": 14, + "retrieval_residual_residual_wrong_gripper": 5 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_m25_sc_14897844_1.err b/workspace/outputs/hpc/logs/rr_m25_sc_14897844_1.err new file mode 100644 index 0000000000000000000000000000000000000000..5b0ecc65d040797fc409188646527d3449adcbf1 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m25_sc_14897844_1.err @@ -0,0 +1,10 @@ +2026-06-29 02:25:59,741 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:01,776 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:03,922 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:06,005 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:08,096 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:10,272 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:12,410 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:14,572 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:16,672 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:18,858 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_m25_sc_14897844_1.out b/workspace/outputs/hpc/logs/rr_m25_sc_14897844_1.out new file mode 100644 index 0000000000000000000000000000000000000000..cb31c05a7bed0ed2f4609693d00666bccf0b412f --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m25_sc_14897844_1.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.25, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3356521739130435, + "policy_rollout_progress": 0.5623445302021244, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9118522175207087, + "policy_expert_regret": 0.8288689049138971, + "action_mse_to_best": 0.38808461398048244, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.2826086956521739, + "policy_rollout_progress": 0.5695733710333867, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0865220478837094, + "policy_expert_regret": 1.0864980434087794, + "action_mse_to_best": 0.31959475595099124, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.15789473684210525, + "policy_rollout_progress": 0.26877533399352904, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5701439169872748, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5761971786422165, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8182225338779054, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3799756643202928, + "policy_expert_regret": 0.32969123205623113, + "action_mse_to_best": 0.35605131264205453, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3899291709556684, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3006761562038254, + "policy_expert_regret": 1.1410143090473426, + "action_mse_to_best": 0.48616488654534895, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 564, + "retrieval_residual_residual_no_op": 7, + "retrieval_residual_residual_wrong_gripper": 4 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_m25_sc_14897844_2.err b/workspace/outputs/hpc/logs/rr_m25_sc_14897844_2.err new file mode 100644 index 0000000000000000000000000000000000000000..982c0f26ea942dcdfbe136272438630d1896921d --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m25_sc_14897844_2.err @@ -0,0 +1,12 @@ +2026-06-29 02:25:54,643 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:25:56,664 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:25:58,766 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:00,836 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:03,149 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:05,280 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:07,320 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:09,469 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:11,541 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:13,581 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:15,614 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:26:17,738 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_m25_sc_14897844_2.out b/workspace/outputs/hpc/logs/rr_m25_sc_14897844_2.out new file mode 100644 index 0000000000000000000000000000000000000000..0408b2e34ee59c6581a63879573c668586c9bbb2 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_m25_sc_14897844_2.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.25, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3634782608695652, + "policy_rollout_progress": 0.5790205448466377, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8697020870717097, + "policy_expert_regret": 0.7827615058789208, + "action_mse_to_best": 0.41599207523967263, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35425721921395353, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3282828282828283, + "policy_rollout_progress": 0.6313787720194368, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0022944023437572, + "policy_expert_regret": 0.9952109518150488, + "action_mse_to_best": 0.3352602533431667, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.3187499970128758, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5428107000956314, + "policy_expert_regret": 0.3142437305577308, + "action_mse_to_best": 0.6293746173381806, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7915659992411586, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.4361567730360692, + "policy_expert_regret": 0.38125452163195844, + "action_mse_to_best": 0.3824400347795817, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.16666666666666666, + "policy_rollout_progress": 0.4137930886612998, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.30155517641041, + "policy_expert_regret": 1.1652188864019182, + "action_mse_to_best": 0.4837228998127911, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 564, + "retrieval_residual_residual_wrong_gripper": 8, + "retrieval_residual_residual_no_op": 3 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_0.err b/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_0.err new file mode 100644 index 0000000000000000000000000000000000000000..31b69f2edc1e61b9f8f96713f6e51c6e68006cf4 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_0.err @@ -0,0 +1,10 @@ +2026-06-29 07:29:14,101 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:16,185 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:18,403 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:20,522 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:22,611 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:24,735 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:26,818 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:28,908 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:30,971 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:33,022 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_0.out b/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_0.out new file mode 100644 index 0000000000000000000000000000000000000000..8d16813472aa6abcedaf6b018f8ae1d3e3be6760 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_0.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.02, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": { + "retrieval_residual_residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5539021589372145, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8862121134291848, + "policy_expert_regret": 0.8149645472196457, + "action_mse_to_best": 0.3837956997638811, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5685517222610945, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1179699274068027, + "policy_expert_regret": 1.0915544496983598, + "action_mse_to_best": 0.3205717526779501, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160796141395202, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746098971137633, + "policy_expert_regret": 0.9611870296872579, + "action_mse_to_best": 0.3027167360728177, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31257388803067726, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41723848439680483, + "policy_expert_regret": 0.24368244630296704, + "action_mse_to_best": 0.6036089200091053, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36525934506604013, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.29292929292929293, + "policy_rollout_progress": 0.4565590555318678, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0829776674509048, + "policy_expert_regret": 0.9318714340527853, + "action_mse_to_best": 0.4627244542870257, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 537, + "retrieval_residual_residual_wrong_direction": 3, + "retrieval_residual_residual_no_op": 25, + "retrieval_residual_residual_wrong_gripper": 8, + "retrieval_residual_residual_random_negative": 1, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 539, + "0.4": 6, + "0.45": 30 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_1.err b/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_1.err new file mode 100644 index 0000000000000000000000000000000000000000..fff672fbfead9d06f6b50278937771b7a85dd2b5 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_1.err @@ -0,0 +1,10 @@ +2026-06-29 07:29:56,340 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:29:58,483 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:30:00,719 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:30:03,077 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:30:05,425 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:30:07,723 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:30:10,015 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:30:12,251 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:30:14,551 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:30:16,825 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_1.out b/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_1.out new file mode 100644 index 0000000000000000000000000000000000000000..0293f8f3f706f65347953f4118b96466f1430b12 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_1.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.02, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": { + "retrieval_residual_residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5688521353900433, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8949098297240942, + "policy_expert_regret": 0.8212565419013086, + "action_mse_to_best": 0.3907080280246294, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.576910365069204, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.062880706021805, + "policy_expert_regret": 1.062856701546875, + "action_mse_to_best": 0.3202790089316018, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.39013377601628774, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004715511432061, + "policy_expert_regret": 1.1408097039867233, + "action_mse_to_best": 0.5021233438299253, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 545, + "retrieval_residual_residual_no_op": 21, + "retrieval_residual_residual_wrong_gripper": 7, + "retrieval_residual_residual_wrong_direction": 1, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 551, + "0.45": 21, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_2.err b/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_2.err new file mode 100644 index 0000000000000000000000000000000000000000..31816432c2a2f417a785e4f9ad412c004614b836 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_2.err @@ -0,0 +1,12 @@ +2026-06-29 07:31:47,997 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:31:50,017 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:31:52,106 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:31:54,147 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:31:56,280 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:31:58,360 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:00,431 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:02,505 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:05,297 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:07,300 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:09,340 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:11,410 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_2.out b/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_2.out new file mode 100644 index 0000000000000000000000000000000000000000..fde34b48a67323211397602f8e350baa2eb38fba --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons002_14903386_2.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.02, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": { + "retrieval_residual_residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5817792659728002, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.863465105075982, + "policy_expert_regret": 0.7745035679422416, + "action_mse_to_best": 0.4186052608449498, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357579371995397, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878142270626444, + "policy_expert_regret": 0.980730776533936, + "action_mse_to_best": 0.33665372297694585, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.327688170134752, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.522761415862644, + "policy_expert_regret": 0.2941979038908458, + "action_mse_to_best": 0.6327827039692137, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.3882303135377346, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.41212486690945094, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.31433450927337, + "policy_expert_regret": 1.165083098742697, + "action_mse_to_best": 0.48727049939334394, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 546, + "retrieval_residual_residual_wrong_gripper": 13, + "retrieval_residual_residual_no_op": 15, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 550, + "0.45": 23, + "0.4": 2 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_0.err b/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_0.err new file mode 100644 index 0000000000000000000000000000000000000000..cbde4bc148fc9ca893f3f858b686709547875e28 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_0.err @@ -0,0 +1,10 @@ +2026-06-29 07:31:52,162 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:31:54,145 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:31:56,180 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:31:58,272 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:00,312 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:02,370 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:05,298 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:07,425 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:09,529 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:11,545 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_0.out b/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_0.out new file mode 100644 index 0000000000000000000000000000000000000000..47f69f52c31f0757811d25d2c74009bc8935a723 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_0.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.05, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": { + "retrieval_residual_residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5535088137043235, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8866054586620759, + "policy_expert_regret": 0.8153578924525368, + "action_mse_to_best": 0.38336635206218644, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5685517222610945, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1179699274068027, + "policy_expert_regret": 1.0915544496983598, + "action_mse_to_best": 0.3205717526779501, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160796141395202, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746098971137633, + "policy_expert_regret": 0.9611870296872579, + "action_mse_to_best": 0.3027167360728177, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096365697331146, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201758026943675, + "policy_expert_regret": 0.24661976460052967, + "action_mse_to_best": 0.6004027521068399, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36525934506604013, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.29292929292929293, + "policy_rollout_progress": 0.4565590555318678, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0829776674509048, + "policy_expert_regret": 0.9318714340527853, + "action_mse_to_best": 0.4627244542870257, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 538, + "retrieval_residual_residual_wrong_direction": 3, + "retrieval_residual_residual_no_op": 24, + "retrieval_residual_residual_wrong_gripper": 8, + "retrieval_residual_residual_random_negative": 1, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 540, + "0.4": 6, + "0.45": 29 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_1.err b/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_1.err new file mode 100644 index 0000000000000000000000000000000000000000..31a3536f2854fc83ad86919b0b7b9ff398d7d821 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_1.err @@ -0,0 +1,10 @@ +2026-06-29 07:32:13,671 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:15,657 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:17,765 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:19,819 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:21,881 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:23,988 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:26,119 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:28,167 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:30,238 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:32,324 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_1.out b/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_1.out new file mode 100644 index 0000000000000000000000000000000000000000..e70f09621a69b9a932466ac52748fe14b842eeed --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_1.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.05, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": { + "retrieval_residual_residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5689290691393873, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8948328959747501, + "policy_expert_regret": 0.8212565419013086, + "action_mse_to_best": 0.3908817249779468, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.576910365069204, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.062880706021805, + "policy_expert_regret": 1.062856701546875, + "action_mse_to_best": 0.3202790089316018, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.278420454087226, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5473409021567357, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5738953594118357, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.39013377601628774, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004715511432061, + "policy_expert_regret": 1.1408097039867233, + "action_mse_to_best": 0.5021233438299253, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 546, + "retrieval_residual_residual_no_op": 20, + "retrieval_residual_residual_wrong_gripper": 7, + "retrieval_residual_residual_wrong_direction": 1, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 552, + "0.45": 20, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_2.err b/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_2.err new file mode 100644 index 0000000000000000000000000000000000000000..3fa9c56f7bfc727d513b1f42144a39e424c06ba0 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_2.err @@ -0,0 +1,12 @@ +2026-06-29 07:32:11,867 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:13,860 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:15,924 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:17,954 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:20,020 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:22,099 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:24,146 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:26,257 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:28,362 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:30,370 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:32,449 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:32:34,529 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_2.out b/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_2.out new file mode 100644 index 0000000000000000000000000000000000000000..fd432bc0ffa8dc20a9856e3febb9d1e2566e64e7 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons005_14903388_2.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.05, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": { + "retrieval_residual_residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5810789963980958, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8641653746506863, + "policy_expert_regret": 0.775203837516946, + "action_mse_to_best": 0.4184414776471322, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357579371995397, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878142270626444, + "policy_expert_regret": 0.980730776533936, + "action_mse_to_best": 0.33665372297694585, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.327688170134752, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.522761415862644, + "policy_expert_regret": 0.2941979038908458, + "action_mse_to_best": 0.6327827039692137, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.3882303135377346, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4076509224043952, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.318808453778426, + "policy_expert_regret": 1.1695570432477527, + "action_mse_to_best": 0.4862241067406204, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 547, + "retrieval_residual_residual_wrong_gripper": 12, + "retrieval_residual_residual_no_op": 15, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 551, + "0.45": 22, + "0.4": 2 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_0.err b/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_0.err new file mode 100644 index 0000000000000000000000000000000000000000..7e3568f8b9b0fc611e0042a5f12c1749318558dc --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_0.err @@ -0,0 +1,10 @@ +2026-06-29 07:34:02,935 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:04,916 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:06,942 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:09,029 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:11,076 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:13,144 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:15,214 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:17,317 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:19,401 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:21,476 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_0.out b/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_0.out new file mode 100644 index 0000000000000000000000000000000000000000..c2d5d469c37236378a91d36b4f9ab65b9e1d1693 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_0.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.1, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": { + "retrieval_residual_residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5525400431899596, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8875742291764397, + "policy_expert_regret": 0.8132493543535795, + "action_mse_to_best": 0.38343353370123584, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.3206862742465335, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160796141395202, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746098971137633, + "policy_expert_regret": 0.9611870296872579, + "action_mse_to_best": 0.30271068677449453, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.30872714644685, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4210852259806321, + "policy_expert_regret": 0.2475291878867943, + "action_mse_to_best": 0.5996194708269912, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932199602114394, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472055717034543, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.366207129777746, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.29292929292929293, + "policy_rollout_progress": 0.4565590555318678, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0829776674509048, + "policy_expert_regret": 0.9318714340527853, + "action_mse_to_best": 0.4627244542870257, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 540, + "retrieval_residual_residual_near_miss": 2, + "retrieval_residual_residual_no_op": 22, + "retrieval_residual_residual_wrong_gripper": 8, + "retrieval_residual_residual_random_negative": 1, + "retrieval_residual_residual_wrong_direction": 2 + }, + "selected_residual_scale_counts": { + "0.35": 542, + "0.45": 28, + "0.4": 5 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_1.err b/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_1.err new file mode 100644 index 0000000000000000000000000000000000000000..0a975dedc7f9553e62f7d3104f2cb605758b5dd1 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_1.err @@ -0,0 +1,10 @@ +2026-06-29 07:34:02,905 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:04,868 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:06,905 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:08,918 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:10,916 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:13,045 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:15,160 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:17,261 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:19,370 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:21,422 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_1.out b/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_1.out new file mode 100644 index 0000000000000000000000000000000000000000..616a09ca6626d0b2849efc05481999ebdcb5a7d4 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_1.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.1, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": { + "retrieval_residual_residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5688888224603041, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8948731426538332, + "policy_expert_regret": 0.8212967885803917, + "action_mse_to_best": 0.39048458591589463, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.5767873519646894, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0630037191263197, + "policy_expert_regret": 1.0629797146513895, + "action_mse_to_best": 0.3198382667589771, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.278420454087226, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5473409021567357, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5738953594118357, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3901281998707698, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.300477127288724, + "policy_expert_regret": 1.1408152801322413, + "action_mse_to_best": 0.5005051196440236, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 548, + "retrieval_residual_residual_no_op": 19, + "retrieval_residual_residual_wrong_gripper": 6, + "retrieval_residual_residual_wrong_direction": 1, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 554, + "0.45": 18, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_2.err b/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_2.err new file mode 100644 index 0000000000000000000000000000000000000000..6c8e7b03dbdf8365e2e43769546dd0bc98bfb420 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_2.err @@ -0,0 +1,12 @@ +2026-06-29 07:34:05,400 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:07,395 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:09,530 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:11,600 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:13,741 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:15,850 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:17,896 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:20,015 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:22,092 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:24,168 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:26,340 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:34:28,558 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_2.out b/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_2.out new file mode 100644 index 0000000000000000000000000000000000000000..b6657f419381ee9864cc968ba1d18cb9b24fe130 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noop_cons010_14903390_2.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.1, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": { + "retrieval_residual_residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5811719610498878, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8640724099988945, + "policy_expert_regret": 0.7751108728651541, + "action_mse_to_best": 0.41732058835661284, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357043467161029, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878678175460811, + "policy_expert_regret": 0.9807843670173727, + "action_mse_to_best": 0.3357455680955841, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.32840001002920566, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5220495759681903, + "policy_expert_regret": 0.29348606399639215, + "action_mse_to_best": 0.628579631447792, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.38737466850198143, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4076509224043952, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.318808453778426, + "policy_expert_regret": 1.1695570432477527, + "action_mse_to_best": 0.4862241067406204, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 551, + "retrieval_residual_residual_wrong_gripper": 11, + "retrieval_residual_residual_no_op": 12, + "retrieval_residual_residual_near_miss": 1 + }, + "selected_residual_scale_counts": { + "0.35": 554, + "0.45": 19, + "0.4": 2 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_0.err b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_0.err new file mode 100644 index 0000000000000000000000000000000000000000..41ba78a2266f5707d3aa4548989d0589c18ccaae --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_0.err @@ -0,0 +1,10 @@ +2026-06-29 06:47:19,041 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:21,051 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:23,122 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:25,288 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:27,386 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:29,516 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:31,595 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:33,741 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:35,810 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:37,914 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_0.out b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_0.out new file mode 100644 index 0000000000000000000000000000000000000000..91f1b0c63dd90d37562953f59530608c382ea927 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_0.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.02, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5540965962337087, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8859956451157189, + "policy_expert_regret": 0.8127708983008305, + "action_mse_to_best": 0.3828209464721706, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160796141395202, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746098971137633, + "policy_expert_regret": 0.9611870296872579, + "action_mse_to_best": 0.3027167360728177, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31240937069614794, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41723848439680483, + "policy_expert_regret": 0.24368244630296704, + "action_mse_to_best": 0.6033577046224049, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36525934506604013, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4549634422015662, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0946742908822165, + "policy_expert_regret": 0.9320844327560579, + "action_mse_to_best": 0.45811476908398396, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 539, + "retrieval_residual_residual_no_op": 28, + "retrieval_residual_residual_wrong_gripper": 8 + }, + "selected_residual_scale_counts": { + "0.35": 542, + "0.45": 29, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_1.err b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_1.err new file mode 100644 index 0000000000000000000000000000000000000000..dceecd767a1b3b2e73c5db29c2df347816e955d3 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_1.err @@ -0,0 +1,10 @@ +2026-06-29 06:48:09,255 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:48:11,322 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:48:13,536 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:48:15,585 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:48:17,682 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:48:19,892 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:48:22,009 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:48:24,121 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:48:26,300 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:48:28,531 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_1.out b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_1.out new file mode 100644 index 0000000000000000000000000000000000000000..00b8af57aed4827d1bb4ce3ab7b805b520e3b812 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_1.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.02, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5680116083472967, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8974894872016232, + "policy_expert_regret": 0.8238361993788377, + "action_mse_to_best": 0.38981072652437115, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5742833828654789, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0709424708342261, + "policy_expert_regret": 1.0709184663592959, + "action_mse_to_best": 0.31983403790661175, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.39013445377349854, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004708733859953, + "policy_expert_regret": 1.1408090262295125, + "action_mse_to_best": 0.49735330323596577, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 550, + "retrieval_residual_residual_no_op": 19, + "retrieval_residual_residual_wrong_gripper": 6 + }, + "selected_residual_scale_counts": { + "0.35": 555, + "0.45": 17, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_2.err b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_2.err new file mode 100644 index 0000000000000000000000000000000000000000..2697c90816ab344d49a71d3b080ff82b433f4f4b --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_2.err @@ -0,0 +1,12 @@ +2026-06-29 06:52:24,604 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:26,595 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:28,615 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:30,627 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:32,696 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:34,753 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:36,792 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:38,862 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:40,956 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:42,981 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:45,030 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:47,153 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_2.out b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_2.out new file mode 100644 index 0000000000000000000000000000000000000000..88d4944c7c0473f030a1b9b6ec973471ca2955b7 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902713_2.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.02, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5817834541190804, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8634609169297017, + "policy_expert_regret": 0.7744843641161044, + "action_mse_to_best": 0.41781201170433474, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6358094570988958, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9877627071632882, + "policy_expert_regret": 0.9806792566345798, + "action_mse_to_best": 0.3356513422584594, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.32759223662455444, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5228573493728416, + "policy_expert_regret": 0.2941979038908458, + "action_mse_to_best": 0.6320193340380986, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.38680276754173903, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4121342142422994, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3143251619405216, + "policy_expert_regret": 1.1650737514098486, + "action_mse_to_best": 0.48677315012448363, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 550, + "retrieval_residual_residual_wrong_gripper": 12, + "retrieval_residual_residual_no_op": 13 + }, + "selected_residual_scale_counts": { + "0.35": 553, + "0.45": 20, + "0.4": 2 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_0.err b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_0.err new file mode 100644 index 0000000000000000000000000000000000000000..772aca0aa8e52d70410e0f259eab6627404e91c9 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_0.err @@ -0,0 +1,10 @@ +2026-06-29 06:52:40,176 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:42,172 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:44,196 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:46,259 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:48,294 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:50,397 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:52,457 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:54,515 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:56,601 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:58,617 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_0.out b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_0.out new file mode 100644 index 0000000000000000000000000000000000000000..b408bb8dcf6f9325ca44d6985471e4244f604dec --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_0.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5509129508823642, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8926800199035231, + "policy_expert_regret": 0.8196410177473951, + "action_mse_to_best": 0.3830747622267707, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5685172916687641, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.118004357999133, + "policy_expert_regret": 1.0915888802906901, + "action_mse_to_best": 0.32106486267227796, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.33653846153846156, + "policy_rollout_progress": 0.6119674508495686, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9835297527114073, + "policy_expert_regret": 0.9701068852849019, + "action_mse_to_best": 0.30294328523226655, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31427947921351856, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41553616063221804, + "policy_expert_regret": 0.24336717680834427, + "action_mse_to_best": 0.6192189453097133, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36481974210510865, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.44654435431114353, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1030933787726394, + "policy_expert_regret": 0.9405035206464806, + "action_mse_to_best": 0.44585433056709745, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 539, + "retrieval_residual_residual_no_op": 31, + "retrieval_residual_residual_wrong_gripper": 5 + }, + "selected_residual_scale_counts": { + "0.35": 542, + "0.45": 30, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_1.err b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_1.err new file mode 100644 index 0000000000000000000000000000000000000000..2f4aa6866fb6145c2a9c28d6d1661d79f90a9a3a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_1.err @@ -0,0 +1,10 @@ +2026-06-29 06:52:42,560 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:44,574 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:46,680 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:48,828 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:50,903 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:53,133 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:55,268 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:57,404 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:59,509 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:01,624 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_1.out b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_1.out new file mode 100644 index 0000000000000000000000000000000000000000..8377bc6b1fae7d896221f18a4668ba45016e48c5 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_1.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3426086956521739, + "policy_rollout_progress": 0.5671324408540259, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9001077851296767, + "policy_expert_regret": 0.8232331437552752, + "action_mse_to_best": 0.3906792506462206, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.28804347826086957, + "policy_rollout_progress": 0.5720187526540426, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0786418836543579, + "policy_expert_regret": 1.0786178791794279, + "action_mse_to_best": 0.31976779005692707, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2768379652284478, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5489233910155139, + "policy_expert_regret": 0.30137280516914633, + "action_mse_to_best": 0.5912214504848969, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8334508080471743, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.34672937213300586, + "policy_expert_regret": 0.3295618050001763, + "action_mse_to_best": 0.3589182779327169, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3899291709556684, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3006761562038254, + "policy_expert_regret": 1.1410143090473426, + "action_mse_to_best": 0.48616488654534895, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 546, + "retrieval_residual_residual_no_op": 24, + "retrieval_residual_residual_wrong_gripper": 5 + }, + "selected_residual_scale_counts": { + "0.35": 548, + "0.45": 25, + "0.4": 2 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_2.err b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_2.err new file mode 100644 index 0000000000000000000000000000000000000000..2f74dec91a5244b64b653caf3420e6980c5ec20e --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_2.err @@ -0,0 +1,12 @@ +2026-06-29 06:52:41,025 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:43,053 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:45,120 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:47,177 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:49,290 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:51,384 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:53,458 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:55,595 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:57,656 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:59,728 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:01,759 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:03,898 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_2.out b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_2.out new file mode 100644 index 0000000000000000000000000000000000000000..b06cb71d40986cff201d8bfc7071ee7bcf74d873 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14902721_2.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5808541960355607, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8643901750132215, + "policy_expert_regret": 0.7775946016847213, + "action_mse_to_best": 0.41689718340645016, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.3544156905797233, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3282828282828283, + "policy_rollout_progress": 0.6313803193319325, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0022928550312615, + "policy_expert_regret": 0.9952094045025531, + "action_mse_to_best": 0.3357984918649449, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.32897496665656134, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5214746193408347, + "policy_expert_regret": 0.29383408893588947, + "action_mse_to_best": 0.632112003200584, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.792272014488088, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.4354507577891397, + "policy_expert_regret": 0.38054850638502896, + "action_mse_to_best": 0.38676855801650795, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.17777777777777778, + "policy_rollout_progress": 0.4144874026377996, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.2897497513227993, + "policy_expert_regret": 1.1534134613143072, + "action_mse_to_best": 0.4805574236230718, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 555, + "retrieval_residual_residual_wrong_gripper": 8, + "retrieval_residual_residual_no_op": 12 + }, + "selected_residual_scale_counts": { + "0.35": 555, + "0.45": 20 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_0.err b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_0.err new file mode 100644 index 0000000000000000000000000000000000000000..dbc52fbf73c0227153b5d18894ac4d6ffac54fc0 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_0.err @@ -0,0 +1,10 @@ +2026-06-29 07:08:01,066 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:03,130 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:05,420 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:07,711 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:09,925 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:12,183 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:14,370 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:16,628 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:18,799 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:21,021 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_0.out b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_0.out new file mode 100644 index 0000000000000000000000000000000000000000..916435c1941b0dcb81c0c47f908a63b17d89d332 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_0.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.02, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34956521739130436, + "policy_rollout_progress": 0.555537013274658, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.882816097639987, + "policy_expert_regret": 0.8095913508250986, + "action_mse_to_best": 0.38325489072857993, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.616030187274401, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746593239788826, + "policy_expert_regret": 0.9612364565523771, + "action_mse_to_best": 0.30272963238306916, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31240937069614794, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41723848439680483, + "policy_expert_regret": 0.24368244630296704, + "action_mse_to_best": 0.6033577046224049, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36525934506604013, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.29292929292929293, + "policy_rollout_progress": 0.463433347115613, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0761033758671597, + "policy_expert_regret": 0.913513517741001, + "action_mse_to_best": 0.4606080571133079, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 536, + "retrieval_residual_residual_no_op": 31, + "retrieval_residual_residual_wrong_gripper": 8 + }, + "selected_residual_scale_counts": { + "0.35": 541, + "0.45": 30, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_1.err b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_1.err new file mode 100644 index 0000000000000000000000000000000000000000..524c8da7717ff0d1cab17e241ed69f2a23e9e8d8 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_1.err @@ -0,0 +1,10 @@ +2026-06-29 07:09:34,145 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:09:36,091 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:09:38,125 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:09:40,148 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:09:42,131 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:09:44,213 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:09:46,265 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:09:48,287 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:09:50,310 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:09:52,361 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_1.out b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_1.out new file mode 100644 index 0000000000000000000000000000000000000000..7bb77e0f89f023078228a541853f07c6811fde11 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_1.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.02, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5688531251381272, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8949088399760101, + "policy_expert_regret": 0.8212555521532245, + "action_mse_to_best": 0.3902205637081162, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355200547032651, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665916710828258, + "policy_expert_regret": 0.9873896409979964, + "action_mse_to_best": 0.3261080000104498, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29891304347826086, + "policy_rollout_progress": 0.576910365069204, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.062880706021805, + "policy_expert_regret": 1.062856701546875, + "action_mse_to_best": 0.32031446170952654, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3901400299190165, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004652972404773, + "policy_expert_regret": 1.1408034500839945, + "action_mse_to_best": 0.49897152742186746, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 545, + "retrieval_residual_residual_no_op": 23, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.35": 550, + "0.45": 22, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_2.err b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_2.err new file mode 100644 index 0000000000000000000000000000000000000000..728566be56d6ef0094ed447f8ff6116bc4583ea5 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_2.err @@ -0,0 +1,12 @@ +2026-06-29 07:12:34,491 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:12:36,573 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:12:38,642 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:12:40,757 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:12:42,860 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:12:45,006 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:12:47,069 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:12:49,198 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:12:51,287 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:12:53,331 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:12:55,391 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:12:57,504 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_2.out b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_2.out new file mode 100644 index 0000000000000000000000000000000000000000..b35aa6519782da59e20a3e9a7950f9075e4b3e29 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_noopbonus0p03__14903134_2.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.02, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5817657133537368, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8634786576950453, + "policy_expert_regret": 0.774502104881448, + "action_mse_to_best": 0.41840793088321454, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357579371995397, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878142270626444, + "policy_expert_regret": 0.980730776533936, + "action_mse_to_best": 0.33665372297694585, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.32759223662455444, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5228573493728416, + "policy_expert_regret": 0.2941979038908458, + "action_mse_to_best": 0.6320193340380986, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.3882303135377346, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4121342142422994, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3143251619405216, + "policy_expert_regret": 1.1650737514098486, + "action_mse_to_best": 0.48677315012448363, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 546, + "retrieval_residual_residual_wrong_gripper": 13, + "retrieval_residual_residual_no_op": 16 + }, + "selected_residual_scale_counts": { + "0.35": 549, + "0.45": 23, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_0.err b/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_0.err new file mode 100644 index 0000000000000000000000000000000000000000..19bfcc58b34a2d071ea19f875ef995884d85efd5 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_0.err @@ -0,0 +1,10 @@ +2026-06-29 02:07:56,083 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:07:58,063 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:08:00,098 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:08:02,175 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:08:04,249 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:08:06,297 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:08:08,376 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:08:10,462 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:08:12,503 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:08:14,613 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_0.out b/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_0.out new file mode 100644 index 0000000000000000000000000000000000000000..65f645380c611d4d18c5b1e9656783dbf44b1706 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_0.out @@ -0,0 +1,112 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction", + "residual_wrong_gripper" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5525477739123871, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8875664984540123, + "policy_expert_regret": 0.8143417516391238, + "action_mse_to_best": 0.38096396585845427, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160957529567755, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745937582965081, + "policy_expert_regret": 0.9611708908700026, + "action_mse_to_best": 0.30265616485849023, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31160062367048164, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41821174875700046, + "policy_expert_regret": 0.24465571066316266, + "action_mse_to_best": 0.6013353352809881, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36294203449754003, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.44656287464830613, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1030748584354766, + "policy_expert_regret": 0.940485000309318, + "action_mse_to_best": 0.45122976496702794, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 551, + "retrieval_residual_residual_no_op": 24 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_1.err b/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_1.err new file mode 100644 index 0000000000000000000000000000000000000000..8602bd4cc290629368532e5d2b819ae93b4d3968 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_1.err @@ -0,0 +1,10 @@ +2026-06-29 02:06:31,999 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:33,979 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:36,051 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:38,088 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:40,106 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:42,237 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:44,307 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:46,380 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:48,573 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:50,759 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_1.out b/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_1.out new file mode 100644 index 0000000000000000000000000000000000000000..577a9afe10414a5eb376f028c6fa9f38659a4104 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_1.out @@ -0,0 +1,112 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction", + "residual_wrong_gripper" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3426086956521739, + "policy_rollout_progress": 0.5665045300385226, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.90073569594518, + "policy_expert_regret": 0.8207576179245244, + "action_mse_to_best": 0.38766786168612866, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5744255784818012, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0708002752179038, + "policy_expert_regret": 1.0707762707429735, + "action_mse_to_best": 0.3200199794550629, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.28913191000097677, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5234715515061429, + "policy_expert_regret": 0.30013844498286124, + "action_mse_to_best": 0.5715771112591028, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8177909479216412, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.380407250276557, + "policy_expert_regret": 0.33058198494417174, + "action_mse_to_best": 0.35635087504848706, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3899291709556684, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3006761562038254, + "policy_expert_regret": 1.1410143090473426, + "action_mse_to_best": 0.48616488654534895, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 559, + "retrieval_residual_residual_no_op": 16 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_2.err b/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_2.err new file mode 100644 index 0000000000000000000000000000000000000000..eb5a685a2379ae5b361b6ff468fe2a995da0d409 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_2.err @@ -0,0 +1,12 @@ +2026-06-29 02:06:31,309 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:33,384 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:35,452 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:37,575 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:39,706 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:41,853 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:44,013 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:46,138 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:48,269 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:50,323 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:52,405 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:54,507 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_2.out b/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_2.out new file mode 100644 index 0000000000000000000000000000000000000000..efa2f50ed00c6cffcd177e25656038b544b3e29b --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_nooponly_nb_14897563_2.out @@ -0,0 +1,112 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction", + "residual_wrong_gripper" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3652173913043478, + "policy_rollout_progress": 0.5779648119848286, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8690186894987362, + "policy_expert_regret": 0.7789459013787722, + "action_mse_to_best": 0.41395476261801695, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35361564661434386, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357372662409989, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878348980211851, + "policy_expert_regret": 0.9807514474924767, + "action_mse_to_best": 0.33552251840856945, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.3196675664779832, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5418931306305239, + "policy_expert_regret": 0.31323022758242586, + "action_mse_to_best": 0.6269181397226121, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7524752475247525, + "policy_rollout_progress": 0.775574932299038, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.47194982017620957, + "policy_expert_regret": 0.39930118295815914, + "action_mse_to_best": 0.3759468028155884, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.17777777777777778, + "policy_rollout_progress": 0.4144874026377996, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.2897497513227993, + "policy_expert_regret": 1.1534134613143072, + "action_mse_to_best": 0.4805574236230718, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 561, + "retrieval_residual_residual_no_op": 14 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_0.err b/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_0.err new file mode 100644 index 0000000000000000000000000000000000000000..54d28f073627910a46ee5de6c10410126c2fc268 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_0.err @@ -0,0 +1,10 @@ +2026-06-29 02:06:38,420 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:40,495 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:42,644 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:44,776 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:46,848 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:48,928 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:51,039 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:53,115 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:55,187 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:57,234 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_0.out b/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_0.out new file mode 100644 index 0000000000000000000000000000000000000000..d20bba4d04618c94a7c87efa26ff77012192069e --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_0.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction", + "residual_wrong_gripper" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5521566874882126, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8879575848781868, + "policy_expert_regret": 0.8147328380632983, + "action_mse_to_best": 0.38061467294783696, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.616052501476728, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746370097765555, + "policy_expert_regret": 0.9612141423500501, + "action_mse_to_best": 0.30266214839111155, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3087970082672289, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.42101536416025326, + "policy_expert_regret": 0.2474593260664154, + "action_mse_to_best": 0.5987108158213752, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36294203449754003, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.44656287464830613, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1030748584354766, + "policy_expert_regret": 0.940485000309318, + "action_mse_to_best": 0.45122976496702794, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 553, + "retrieval_residual_residual_no_op": 22 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_1.err b/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_1.err new file mode 100644 index 0000000000000000000000000000000000000000..d1e41fbea45346d1b5235d313703d49d7ffa1b3a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_1.err @@ -0,0 +1,10 @@ +2026-06-29 02:06:10,657 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:12,703 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:14,778 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:16,849 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:18,889 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:21,001 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:23,087 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:25,123 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:27,184 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:29,236 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_1.out b/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_1.out new file mode 100644 index 0000000000000000000000000000000000000000..6065c02bc442d46d28d09f7da6aec2e9145184b6 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_1.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction", + "residual_wrong_gripper" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3426086956521739, + "policy_rollout_progress": 0.5664698526813932, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9007703733023094, + "policy_expert_regret": 0.8207922952816539, + "action_mse_to_best": 0.38757041037244644, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5743172117407717, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.070908641958933, + "policy_expert_regret": 1.070884637484003, + "action_mse_to_best": 0.3197154440998059, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.28913191000097677, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5234715515061429, + "policy_expert_regret": 0.30013844498286124, + "action_mse_to_best": 0.5715771112591028, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8177909479216412, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.380407250276557, + "policy_expert_regret": 0.33058198494417174, + "action_mse_to_best": 0.35635087504848706, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3899291709556684, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3006761562038254, + "policy_expert_regret": 1.1410143090473426, + "action_mse_to_best": 0.48616488654534895, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 559, + "retrieval_residual_residual_no_op": 16 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_2.err b/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_2.err new file mode 100644 index 0000000000000000000000000000000000000000..83e6aad4eb85354997f43c6e4f003216c4281ecd --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_2.err @@ -0,0 +1,12 @@ +2026-06-29 02:06:30,929 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:32,995 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:35,106 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:37,261 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:39,379 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:41,555 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:43,679 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:45,840 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:47,950 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:50,028 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:52,112 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:06:54,250 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_2.out b/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_2.out new file mode 100644 index 0000000000000000000000000000000000000000..bfad2b2914f0cf4bd9629e7c783dedc14951ad2a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_nooponly_sc_14897564_2.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction", + "residual_wrong_gripper" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3652173913043478, + "policy_rollout_progress": 0.5780119153846444, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8689715860989204, + "policy_expert_regret": 0.7789138136588134, + "action_mse_to_best": 0.4140509117257012, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35361564661434386, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6358304502762328, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9877417139859512, + "policy_expert_regret": 0.9806582634572429, + "action_mse_to_best": 0.33545475296977195, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.3197634999881807, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5417971971203264, + "policy_expert_regret": 0.31323022758242586, + "action_mse_to_best": 0.6276815096537273, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7524752475247525, + "policy_rollout_progress": 0.775574932299038, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.47194982017620957, + "policy_expert_regret": 0.39930118295815914, + "action_mse_to_best": 0.3759468028155884, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.17777777777777778, + "policy_rollout_progress": 0.4144874026377996, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.2897497513227993, + "policy_expert_regret": 1.1534134613143072, + "action_mse_to_best": 0.4805574236230718, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 564, + "retrieval_residual_residual_no_op": 11 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_0.err b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_0.err new file mode 100644 index 0000000000000000000000000000000000000000..42e4c0e700d371420daebd16ef166e61531b28d7 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_0.err @@ -0,0 +1,10 @@ +2026-06-29 07:53:03,775 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:05,906 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:08,061 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:10,202 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:12,382 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:14,497 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:16,633 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:18,774 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:20,900 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:23,011 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_0.out b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_0.out new file mode 100644 index 0000000000000000000000000000000000000000..a8c35da5631922f75bd4e9603469c675d67cfd8b --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_0.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.1, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.25, + 0.35, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_no_op", + "residual_wrong_gripper", + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3356521739130435, + "policy_rollout_progress": 0.5459818405164001, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.9063063448934775, + "policy_expert_regret": 0.8240123669519697, + "action_mse_to_best": 0.3795984360802433, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5715890803287939, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1046232909885878, + "policy_expert_regret": 1.078207813280145, + "action_mse_to_best": 0.31828345447663486, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.3317307692307692, + "policy_rollout_progress": 0.6118057822951903, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9884991135734779, + "policy_expert_regret": 0.9750762461469724, + "action_mse_to_best": 0.3025179534362486, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.16883116883116883, + "policy_rollout_progress": 0.2867596946692989, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.48201371671922216, + "policy_expert_regret": 0.26381213830590444, + "action_mse_to_best": 0.607571807968152, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.648936170212766, + "policy_rollout_progress": 0.6846760527250615, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6663877770621726, + "policy_expert_regret": 0.569931797683239, + "action_mse_to_best": 0.3642956905384013, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.45252292264591565, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0971148104378672, + "policy_expert_regret": 0.9345249523117085, + "action_mse_to_best": 0.43883886083847645, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_residual_near_miss": 29, + "retrieval_residual_policy_residual": 546 + }, + "selected_residual_scale_counts": { + "0.5": 19, + "0.25": 552, + "0.35": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_1.err b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_1.err new file mode 100644 index 0000000000000000000000000000000000000000..e9dc73973f4890892e091c6fc10a74085d7a8d1c --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_1.err @@ -0,0 +1,10 @@ +2026-06-29 07:54:51,872 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:54:53,808 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:54:55,857 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:54:57,859 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:54:59,848 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:55:01,944 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:55:03,983 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:55:06,048 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:55:08,075 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:55:10,152 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_1.out b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_1.out new file mode 100644 index 0000000000000000000000000000000000000000..0264e316dca7892b6136660ee42e2fd9cc480cfb --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_1.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.1, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.25, + 0.35, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_no_op", + "residual_wrong_gripper", + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.33043478260869563, + "policy_rollout_progress": 0.5586519980981298, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9207621409290511, + "policy_expert_regret": 0.8327041257431974, + "action_mse_to_best": 0.3867724084287234, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23893805309734514, + "policy_rollout_progress": 0.6373703463942604, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0558918218697066, + "policy_expert_regret": 0.9766897917848772, + "action_mse_to_best": 0.3242295700644629, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.2826086956521739, + "policy_rollout_progress": 0.5696724608398812, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.086422958077215, + "policy_expert_regret": 1.086398953602285, + "action_mse_to_best": 0.3196238886119555, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.11842105263157894, + "policy_rollout_progress": 0.2362727933612309, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6421201418300992, + "policy_expert_regret": 0.3723486057041507, + "action_mse_to_best": 0.5711985409847999, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8182774775468551, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3799207206513431, + "policy_expert_regret": 0.3303554279578699, + "action_mse_to_best": 0.35825215300192703, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.14285714285714285, + "policy_rollout_progress": 0.3911734578701166, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3104208802783883, + "policy_expert_regret": 1.1381711190218453, + "action_mse_to_best": 0.4809705475447597, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 541, + "retrieval_residual_residual_near_miss": 34 + }, + "selected_residual_scale_counts": { + "0.25": 547, + "0.5": 27, + "0.35": 1 + } +} diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_2.err b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_2.err new file mode 100644 index 0000000000000000000000000000000000000000..3dc68c6d2e936ba449a977a0151ed5c818d267d3 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_2.err @@ -0,0 +1,12 @@ +2026-06-29 07:57:08,687 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:10,797 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:12,936 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:15,045 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:17,181 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:19,321 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:21,408 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:23,556 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:25,682 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:27,773 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:29,861 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:32,004 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_2.out b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_2.out new file mode 100644 index 0000000000000000000000000000000000000000..d6def3324d1ccf542a632d34b5d32a4c3fba2b30 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m010_14904742_2.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.1, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.25, + 0.35, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_no_op", + "residual_wrong_gripper", + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3582608695652174, + "policy_rollout_progress": 0.5755735913620922, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8784394202359767, + "policy_expert_regret": 0.785311519469039, + "action_mse_to_best": 0.41252194612813387, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6482880233476559, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.951987166578571, + "policy_expert_regret": 0.8457174766808748, + "action_mse_to_best": 0.35007496579297975, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3282828282828283, + "policy_rollout_progress": 0.6335421946990971, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.000130979664097, + "policy_expert_regret": 0.9930475291353885, + "action_mse_to_best": 0.33490413741556685, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.18888888888888888, + "policy_rollout_progress": 0.30096366798022955, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5832855659709417, + "policy_expert_regret": 0.3151884991537574, + "action_mse_to_best": 0.6288028371002939, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7623762376237624, + "policy_rollout_progress": 0.78365489663464, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.45396886574159756, + "policy_expert_regret": 0.3990666143374868, + "action_mse_to_best": 0.3748256295624346, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.16666666666666666, + "policy_rollout_progress": 0.4115770618120829, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.303771203259627, + "policy_expert_regret": 1.167434913251135, + "action_mse_to_best": 0.47591399082707037, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 529, + "retrieval_residual_residual_near_miss": 46 + }, + "selected_residual_scale_counts": { + "0.25": 537, + "0.5": 32, + "0.35": 6 + } +} diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_0.err b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_0.err new file mode 100644 index 0000000000000000000000000000000000000000..8876c73f0b8f34e4ea78a7984863e52981a81158 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_0.err @@ -0,0 +1,10 @@ +2026-06-29 07:52:19,389 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:21,391 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:23,438 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:25,553 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:27,592 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:29,631 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:31,690 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:33,808 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:35,830 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:37,874 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_0.out b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_0.out new file mode 100644 index 0000000000000000000000000000000000000000..8151487444e86a83f9fe486ece7620738e3eec23 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_0.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.25, + 0.35, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_no_op", + "residual_wrong_gripper", + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3391304347826087, + "policy_rollout_progress": 0.5470242628576639, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.9017856616826485, + "policy_expert_regret": 0.8194916837411407, + "action_mse_to_best": 0.3804865829549406, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.3317307692307692, + "policy_rollout_progress": 0.6118057822951903, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9884991135734779, + "policy_expert_regret": 0.9750762461469724, + "action_mse_to_best": 0.3025179534362486, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.18181818181818182, + "policy_rollout_progress": 0.2925766516755057, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4632097467260024, + "policy_expert_regret": 0.24500816831268468, + "action_mse_to_best": 0.6085963320809525, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6931459486801573, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472795832347362, + "policy_expert_regret": 0.5508236038558026, + "action_mse_to_best": 0.36453170575042987, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4461340910256511, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1035036420581317, + "policy_expert_regret": 0.940913783931973, + "action_mse_to_best": 0.4415906432997247, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 565, + "retrieval_residual_residual_near_miss": 10 + }, + "selected_residual_scale_counts": { + "0.25": 565, + "0.35": 3, + "0.5": 7 + } +} diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_1.err b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_1.err new file mode 100644 index 0000000000000000000000000000000000000000..feac84013ce131d627d30cf840fe5eef9832b757 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_1.err @@ -0,0 +1,10 @@ +2026-06-29 07:52:19,123 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:21,139 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:23,210 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:25,287 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:27,303 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:29,415 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:31,509 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:33,557 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:35,621 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:37,690 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_1.out b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_1.out new file mode 100644 index 0000000000000000000000000000000000000000..a09d8d6a39863a2fb129757f2f6cd2a06aed179a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_1.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.25, + 0.35, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_no_op", + "residual_wrong_gripper", + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.33217391304347826, + "policy_rollout_progress": 0.5587378957705653, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.918937112821833, + "policy_expert_regret": 0.8328553829018188, + "action_mse_to_best": 0.38731886736886656, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23893805309734514, + "policy_rollout_progress": 0.6381661961827658, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0550959720812012, + "policy_expert_regret": 0.9758939419963718, + "action_mse_to_best": 0.32497674461651954, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.2826086956521739, + "policy_rollout_progress": 0.5696724608398812, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.086422958077215, + "policy_expert_regret": 1.086398953602285, + "action_mse_to_best": 0.319557454943171, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.11842105263157894, + "policy_rollout_progress": 0.23515248146692388, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6432404537244063, + "policy_expert_regret": 0.37346891759845774, + "action_mse_to_best": 0.5707060289814284, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.818195169841921, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3800030283562772, + "policy_expert_regret": 0.3303554279578699, + "action_mse_to_best": 0.3581734021101986, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3917640072631312, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.2988413198963626, + "policy_expert_regret": 1.1391794727398799, + "action_mse_to_best": 0.48413735218755494, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 561, + "retrieval_residual_residual_near_miss": 14 + }, + "selected_residual_scale_counts": { + "0.25": 562, + "0.5": 13 + } +} diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_2.err b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_2.err new file mode 100644 index 0000000000000000000000000000000000000000..c0795fea4ef5fe1ddfc4650b7eb2da15c3b4966b --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_2.err @@ -0,0 +1,12 @@ +2026-06-29 07:52:44,161 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:46,257 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:48,495 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:50,627 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:52,837 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:55,081 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:57,198 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:59,440 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:01,667 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:03,733 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:05,969 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:53:08,164 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_2.out b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_2.out new file mode 100644 index 0000000000000000000000000000000000000000..fee32737fca12583d32a8b37d08e1fe4fafb18d3 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g025035050_m020_14904737_2.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.25, + 0.35, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_no_op", + "residual_wrong_gripper", + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3582608695652174, + "policy_rollout_progress": 0.5734521038301191, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8804879193925761, + "policy_expert_regret": 0.7842428273783203, + "action_mse_to_best": 0.41399639958515766, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6461639589009186, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9541112310253084, + "policy_expert_regret": 0.8478415411276122, + "action_mse_to_best": 0.3529800472072869, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3282828282828283, + "policy_rollout_progress": 0.6314166808745476, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0022564934886464, + "policy_expert_regret": 0.9951730429599381, + "action_mse_to_best": 0.33523913734413757, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.18888888888888888, + "policy_rollout_progress": 0.30039575285520387, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5833871664755255, + "policy_expert_regret": 0.3152900996583412, + "action_mse_to_best": 0.6294648294647535, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7524752475247525, + "policy_rollout_progress": 0.775574932299038, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.47194982017620957, + "policy_expert_regret": 0.39930118295815914, + "action_mse_to_best": 0.3759468028155884, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.17777777777777778, + "policy_rollout_progress": 0.4146003435055415, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.2896368104550573, + "policy_expert_regret": 1.1533005204465654, + "action_mse_to_best": 0.4795781588802735, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 570, + "retrieval_residual_residual_near_miss": 5 + }, + "selected_residual_scale_counts": { + "0.25": 571, + "0.5": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_0.err b/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_0.err new file mode 100644 index 0000000000000000000000000000000000000000..6599b8c5b542e0dc2f0ccbf918af50315fb61487 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_0.err @@ -0,0 +1,10 @@ +2026-06-29 07:52:31,865 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:33,985 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:36,181 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:38,343 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:40,514 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:42,667 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:44,813 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:46,962 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:49,117 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:51,186 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_0.out b/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_0.out new file mode 100644 index 0000000000000000000000000000000000000000..0806ece53bb85ea3a75e257186398fd035bdf681 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_0.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.5, + 0.75 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_no_op", + "residual_wrong_gripper", + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3408695652173913, + "policy_rollout_progress": 0.5484290182841537, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.898641775821376, + "policy_expert_regret": 0.8163477978798682, + "action_mse_to_best": 0.3805449200680722, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.3317307692307692, + "policy_rollout_progress": 0.6118057822951903, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9884991135734779, + "policy_expert_regret": 0.9750762461469724, + "action_mse_to_best": 0.3025179534362486, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.19480519480519481, + "policy_rollout_progress": 0.3032059472042148, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4395934382102803, + "policy_expert_regret": 0.22139185979696258, + "action_mse_to_best": 0.6087343350246355, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6931306944882616, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.647294837426632, + "policy_expert_regret": 0.5508388580476984, + "action_mse_to_best": 0.36454192461802604, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4460402779807948, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.103597455102988, + "policy_expert_regret": 0.9410075969768293, + "action_mse_to_best": 0.4418124315808668, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 565, + "retrieval_residual_residual_near_miss": 10 + }, + "selected_residual_scale_counts": { + "0.35": 568, + "0.75": 4, + "0.5": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_1.err b/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_1.err new file mode 100644 index 0000000000000000000000000000000000000000..5d482af3f8bcd0031a3f264910ad7b32877e24ab --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_1.err @@ -0,0 +1,10 @@ +2026-06-29 07:52:15,605 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:17,627 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:19,698 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:21,763 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:23,780 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:25,897 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:27,990 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:30,036 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:32,087 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:34,159 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_1.out b/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_1.out new file mode 100644 index 0000000000000000000000000000000000000000..e7136db45fef82ecd1e8dddc350a77c0e185e1b1 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_1.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.5, + 0.75 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_no_op", + "residual_wrong_gripper", + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.33043478260869563, + "policy_rollout_progress": 0.5579161341779906, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9214980048491903, + "policy_expert_regret": 0.833012146771602, + "action_mse_to_best": 0.38746632555418686, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23893805309734514, + "policy_rollout_progress": 0.6378861129020168, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0553760553619502, + "policy_expert_regret": 0.9761740252771208, + "action_mse_to_best": 0.3246976038012489, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.27717391304347827, + "policy_rollout_progress": 0.5672840742171621, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0942461273086297, + "policy_expert_regret": 1.0867092223412802, + "action_mse_to_best": 0.3196551325407041, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.11842105263157894, + "policy_rollout_progress": 0.23399927040660068, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6443936647847295, + "policy_expert_regret": 0.3746221286587809, + "action_mse_to_best": 0.5702847888399112, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8181605458528072, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.380037652345391, + "policy_expert_regret": 0.3303900519469837, + "action_mse_to_best": 0.35853485380475586, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3927539736032486, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.2978513535562453, + "policy_expert_regret": 1.1381895063997625, + "action_mse_to_best": 0.48512913024687504, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 559, + "retrieval_residual_residual_near_miss": 16 + }, + "selected_residual_scale_counts": { + "0.35": 560, + "0.75": 12, + "0.5": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_2.err b/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_2.err new file mode 100644 index 0000000000000000000000000000000000000000..caee106f857377f4c2e7262d9d987eb83f5d9903 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_2.err @@ -0,0 +1,12 @@ +2026-06-29 07:52:17,565 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:19,586 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:21,683 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:23,735 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:25,824 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:27,912 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:29,947 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:32,066 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:34,139 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:36,220 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:38,275 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:52:40,417 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_2.out b/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_2.out new file mode 100644 index 0000000000000000000000000000000000000000..bba1b75ee5cb771d3be4fca895b27ce092c13e67 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_nm_g035050075_m020_14904740_2.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.5, + 0.75 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_no_op", + "residual_wrong_gripper", + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.36, + "policy_rollout_progress": 0.5752620692605136, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8769388235273989, + "policy_expert_regret": 0.7806937315131433, + "action_mse_to_best": 0.4139373312007798, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.34375, + "policy_rollout_progress": 0.6544514964334667, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9354070268260936, + "policy_expert_regret": 0.8291373369283974, + "action_mse_to_best": 0.35295787210634444, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3282828282828283, + "policy_rollout_progress": 0.6334833375959084, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0001898367672857, + "policy_expert_regret": 0.9931063862385774, + "action_mse_to_best": 0.33525981880122363, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.18888888888888888, + "policy_rollout_progress": 0.2994923756285465, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5842905437021828, + "policy_expert_regret": 0.31619347688499855, + "action_mse_to_best": 0.6296022569139799, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7524752475247525, + "policy_rollout_progress": 0.774877007349883, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.47264774512536456, + "policy_expert_regret": 0.39999910790731413, + "action_mse_to_best": 0.37573137377748395, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.17777777777777778, + "policy_rollout_progress": 0.4144639308253924, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.2897732231352064, + "policy_expert_regret": 1.1534369331267145, + "action_mse_to_best": 0.4792832635756996, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 566, + "retrieval_residual_residual_near_miss": 9 + }, + "selected_residual_scale_counts": { + "0.35": 567, + "0.75": 7, + "0.5": 1 + } +} diff --git a/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_0.err b/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_0.err new file mode 100644 index 0000000000000000000000000000000000000000..5c16332305ed5698ca194bebdcad4b1e320d7035 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_0.err @@ -0,0 +1,10 @@ +2026-06-29 07:57:11,144 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:13,158 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:15,198 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:17,256 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:19,381 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:21,510 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:23,554 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:25,653 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:27,726 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:29,793 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_0.out b/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_0.out new file mode 100644 index 0000000000000000000000000000000000000000..12c8c464ba4b20a0013303751b4115f5be6afa87 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_0.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.25, + 0.35, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3408695652173913, + "policy_rollout_progress": 0.5477940025257514, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8992767915797785, + "policy_expert_regret": 0.8170713146666632, + "action_mse_to_best": 0.38139278126475606, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.3317307692307692, + "policy_rollout_progress": 0.6089278131526393, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9913770827160289, + "policy_expert_regret": 0.9779542152895234, + "action_mse_to_best": 0.3028158242097841, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.19480519480519481, + "policy_rollout_progress": 0.30607402804549544, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4367253573689997, + "policy_expert_regret": 0.2191846632586139, + "action_mse_to_best": 0.6139496880305277, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6931459486801573, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472795832347362, + "policy_expert_regret": 0.5508236038558026, + "action_mse_to_best": 0.36453170575042987, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4461534840591026, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1034842490246801, + "policy_expert_regret": 0.9408943908985214, + "action_mse_to_best": 0.4420643655131712, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 557, + "retrieval_residual_residual_no_op": 9, + "retrieval_residual_residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss": 8 + }, + "selected_residual_scale_counts": { + "0.25": 558, + "0.5": 13, + "0.35": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_1.err b/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_1.err new file mode 100644 index 0000000000000000000000000000000000000000..3db388c4fb42d2361b4d0243a1dafe68e60d8cf4 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_1.err @@ -0,0 +1,10 @@ +2026-06-29 07:57:16,293 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:18,268 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:20,281 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:22,280 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:24,282 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:26,369 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:28,399 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:30,431 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:32,467 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:34,517 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_1.out b/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_1.out new file mode 100644 index 0000000000000000000000000000000000000000..bc3dcbcd66a3cacc38816aa3003215aa81f38f7f --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_1.out @@ -0,0 +1,122 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.25, + 0.35, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3339130434782609, + "policy_rollout_progress": 0.5587685327847367, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9194006782349037, + "policy_expert_regret": 0.8276107114521057, + "action_mse_to_best": 0.38822281592728003, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.25663716814159293, + "policy_rollout_progress": 0.6436866321394928, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0432407254666354, + "policy_expert_regret": 0.9642004154424751, + "action_mse_to_best": 0.3265873762506959, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.27717391304347827, + "policy_rollout_progress": 0.567156163621289, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0943740379045028, + "policy_expert_regret": 1.0868371329371533, + "action_mse_to_best": 0.31978633928963024, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.11842105263157894, + "policy_rollout_progress": 0.23353492429381922, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.6448580108975109, + "policy_expert_regret": 0.34984783171431016, + "action_mse_to_best": 0.574047543794701, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.818195169841921, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3800030283562772, + "policy_expert_regret": 0.3303554279578699, + "action_mse_to_best": 0.3581734021101986, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3915413704874751, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.2990639566720188, + "policy_expert_regret": 1.139402109515536, + "action_mse_to_best": 0.48459558516413304, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 554, + "retrieval_residual_residual_no_op": 9, + "retrieval_residual_residual_wrong_gripper": 1, + "retrieval_residual_residual_near_miss": 11 + }, + "selected_residual_scale_counts": { + "0.25": 556, + "0.5": 18, + "0.35": 1 + } +} diff --git a/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_2.err b/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_2.err new file mode 100644 index 0000000000000000000000000000000000000000..ba63c1d168592272dba49ad27c34f6c3b1e2c801 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_2.err @@ -0,0 +1,12 @@ +2026-06-29 07:57:25,150 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:27,240 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:29,402 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:31,486 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:33,586 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:35,697 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:37,777 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:39,948 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:42,124 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:44,214 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:46,266 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:57:48,390 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_2.out b/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_2.out new file mode 100644 index 0000000000000000000000000000000000000000..bfc5c2b5ec7791cba944f871bf6a8afac3c4906b --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_repair_safe_g025035050_m020_14904744_2.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.25, + 0.35, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3582608695652174, + "policy_rollout_progress": 0.574182943435036, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8803210718940555, + "policy_expert_regret": 0.7840939766211775, + "action_mse_to_best": 0.41388170026809623, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6460308249418935, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9542443649843335, + "policy_expert_regret": 0.8479746750866374, + "action_mse_to_best": 0.35281265252948896, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3282828282828283, + "policy_rollout_progress": 0.6328623286928191, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0024487015349095, + "policy_expert_regret": 0.9954175142703032, + "action_mse_to_best": 0.3358964854381, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.18888888888888888, + "policy_rollout_progress": 0.30039575285520387, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5833871664755255, + "policy_expert_regret": 0.3152900996583412, + "action_mse_to_best": 0.6294648294647535, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7524752475247525, + "policy_rollout_progress": 0.775574932299038, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.47194982017620957, + "policy_expert_regret": 0.39930118295815914, + "action_mse_to_best": 0.3759468028155884, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.17777777777777778, + "policy_rollout_progress": 0.4162311808930503, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.2880059730675486, + "policy_expert_regret": 1.1516696830590567, + "action_mse_to_best": 0.477577746204204, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 561, + "retrieval_residual_residual_near_miss": 5, + "retrieval_residual_residual_no_op": 9 + }, + "selected_residual_scale_counts": { + "0.25": 565, + "0.5": 9, + "0.35": 1 + } +} diff --git a/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_0.err b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_0.err new file mode 100644 index 0000000000000000000000000000000000000000..fe89ed5ba0ed46925471a18949e4ad2bc1880b49 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_0.err @@ -0,0 +1,10 @@ +2026-06-29 06:52:49,675 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:51,736 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:53,831 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:55,940 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:58,020 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:00,085 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:02,176 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:04,251 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:06,311 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:08,354 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_0.out b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_0.out new file mode 100644 index 0000000000000000000000000000000000000000..2efe07838403ce75dbec4fd29e948490f82cefc2 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_0.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.02, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5524099932667678, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8894434095344141, + "policy_expert_regret": 0.8131413541062047, + "action_mse_to_best": 0.38255122262660574, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6161428902011651, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745466210521184, + "policy_expert_regret": 0.961123753625613, + "action_mse_to_best": 0.30263849938861453, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096365697331146, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201758026943675, + "policy_expert_regret": 0.24661976460052967, + "action_mse_to_best": 0.6003978378199911, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932199602114394, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472055717034543, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.366207129777746, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4549634422015662, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0946742908822165, + "policy_expert_regret": 0.9320844327560579, + "action_mse_to_best": 0.45811476908398396, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 547, + "retrieval_residual_residual_no_op": 19, + "retrieval_residual_residual_wrong_gripper": 9 + }, + "selected_residual_scale_counts": { + "0.35": 549, + "0.45": 22, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_1.err b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_1.err new file mode 100644 index 0000000000000000000000000000000000000000..0aaa7a0716ab9d14e0e2374d3a12d5e548294d05 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_1.err @@ -0,0 +1,10 @@ +2026-06-29 06:47:11,766 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:13,728 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:15,767 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:17,786 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:19,786 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:21,896 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:23,982 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:26,030 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:28,149 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:30,218 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_1.out b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_1.out new file mode 100644 index 0000000000000000000000000000000000000000..fa13846386774dea49e6e3f92821a91f306c2f06 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_1.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.02, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3426086956521739, + "policy_rollout_progress": 0.5672610674895671, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8999791584941356, + "policy_expert_regret": 0.82632587067135, + "action_mse_to_best": 0.3896441061227866, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.28804347826086957, + "policy_rollout_progress": 0.571939805654161, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0787208306542395, + "policy_expert_regret": 1.0786968261793093, + "action_mse_to_best": 0.3196430883532309, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.39013445377349854, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004708733859953, + "policy_expert_regret": 1.1408090262295125, + "action_mse_to_best": 0.49735330323596577, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 555, + "retrieval_residual_residual_no_op": 14, + "retrieval_residual_residual_wrong_gripper": 6 + }, + "selected_residual_scale_counts": { + "0.35": 557, + "0.45": 16, + "0.4": 2 + } +} diff --git a/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_2.err b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_2.err new file mode 100644 index 0000000000000000000000000000000000000000..e2a93434edb310ad4bfdd9bdda96cd34a03b25e1 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_2.err @@ -0,0 +1,12 @@ +2026-06-29 06:47:11,312 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:13,321 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:15,454 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:17,493 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:19,600 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:21,652 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:23,709 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:25,831 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:27,926 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:29,919 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:31,941 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:34,013 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_2.out b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_2.out new file mode 100644 index 0000000000000000000000000000000000000000..506cf097f53c459e506649e4970ce3d42a2910ea --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902706_2.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.02, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3652173913043478, + "policy_rollout_progress": 0.5812177162962989, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8657657851872658, + "policy_expert_regret": 0.7768042480535254, + "action_mse_to_best": 0.4170152235120211, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6335900408225228, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9950326284901663, + "policy_expert_regret": 0.9879491779614579, + "action_mse_to_best": 0.3353792288801586, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.3288605163425826, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5215890696548134, + "policy_expert_regret": 0.2930255576830152, + "action_mse_to_best": 0.6275273922416899, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.38680276754173903, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4121342142422994, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3143251619405216, + "policy_expert_regret": 1.1650737514098486, + "action_mse_to_best": 0.48677315012448363, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 557, + "retrieval_residual_residual_wrong_gripper": 12, + "retrieval_residual_residual_no_op": 6 + }, + "selected_residual_scale_counts": { + "0.35": 559, + "0.45": 16 + } +} diff --git a/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_0.err b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_0.err new file mode 100644 index 0000000000000000000000000000000000000000..8ce7eb98f4229031225f914367668f20c5c56c50 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_0.err @@ -0,0 +1,10 @@ +2026-06-29 06:47:27,892 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:29,870 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:31,883 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:33,989 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:36,021 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:38,123 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:40,191 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:42,282 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:44,366 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:46,391 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_0.out b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_0.out new file mode 100644 index 0000000000000000000000000000000000000000..666e2fbb9d38d36f05d9a225b9dc775ed275484c --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_0.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.05, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34782608695652173, + "policy_rollout_progress": 0.5523341185753436, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8877801537910557, + "policy_expert_regret": 0.8145554069761672, + "action_mse_to_best": 0.3814377734810114, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.616163603674907, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745259075783766, + "policy_expert_regret": 0.9611030401518712, + "action_mse_to_best": 0.3026326415129006, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096365697331146, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201758026943675, + "policy_expert_regret": 0.24661976460052967, + "action_mse_to_best": 0.6003978378199911, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6702127659574468, + "policy_rollout_progress": 0.7014056246014352, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.628381609441118, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36525934506604013, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4467069896483662, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1029307434354165, + "policy_expert_regret": 0.9403408853092579, + "action_mse_to_best": 0.45255999072370207, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 552, + "retrieval_residual_residual_no_op": 18, + "retrieval_residual_residual_wrong_gripper": 5 + }, + "selected_residual_scale_counts": { + "0.35": 553, + "0.45": 19, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_1.err b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_1.err new file mode 100644 index 0000000000000000000000000000000000000000..4cd362af8d6c2e61635cfe17d7ec433b798faa1f --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_1.err @@ -0,0 +1,10 @@ +2026-06-29 06:47:18,295 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:20,339 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:22,460 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:24,561 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:26,672 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:28,899 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:31,086 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:33,238 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:35,364 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:37,528 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_1.out b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_1.out new file mode 100644 index 0000000000000000000000000000000000000000..b587fa08763e53a94d1cb484103cb658daa4b8f0 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_1.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.05, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3408695652173913, + "policy_rollout_progress": 0.5664854970865923, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9024938593318929, + "policy_expert_regret": 0.8288405715091073, + "action_mse_to_best": 0.38937381732884957, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.2826086956521739, + "policy_rollout_progress": 0.5695936874709213, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.086501731446175, + "policy_expert_regret": 1.0864777269712447, + "action_mse_to_best": 0.3195975298345413, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8332661805120675, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.34691399966811276, + "policy_expert_regret": 0.3297464325352832, + "action_mse_to_best": 0.3560283362596959, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.39013445377349854, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004708733859953, + "policy_expert_regret": 1.1408090262295125, + "action_mse_to_best": 0.49735330323596577, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 558, + "retrieval_residual_residual_no_op": 12, + "retrieval_residual_residual_wrong_gripper": 5 + }, + "selected_residual_scale_counts": { + "0.35": 559, + "0.45": 16 + } +} diff --git a/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_2.err b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_2.err new file mode 100644 index 0000000000000000000000000000000000000000..09f015e1844ccf1ee99511c5ad1265a3ae1f014e --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_2.err @@ -0,0 +1,12 @@ +2026-06-29 06:47:19,657 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:21,708 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:23,856 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:25,941 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:28,101 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:30,268 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:32,384 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:34,587 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:36,739 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:38,866 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:41,035 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:47:43,190 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_2.out b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_2.out new file mode 100644 index 0000000000000000000000000000000000000000..a1e40ffaab0d86bed4cc034b81dfe569d7627a23 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvbonus0p0_14902709_2.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.05, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3652173913043478, + "policy_rollout_progress": 0.5801302607541078, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.866853240729457, + "policy_expert_regret": 0.7799132007209276, + "action_mse_to_best": 0.4165437688346466, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3282828282828283, + "policy_rollout_progress": 0.6313787720194368, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0022944023437572, + "policy_expert_regret": 0.9952109518150488, + "action_mse_to_best": 0.3353159612590315, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.3288605163425826, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5215890696548134, + "policy_expert_regret": 0.2930255576830152, + "action_mse_to_best": 0.6275273922416899, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.38680276754173903, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.16666666666666666, + "policy_rollout_progress": 0.41005137297842237, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3052968920932875, + "policy_expert_regret": 1.1689606020847956, + "action_mse_to_best": 0.4839002673410707, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 560, + "retrieval_residual_residual_wrong_gripper": 10, + "retrieval_residual_residual_no_op": 5 + }, + "selected_residual_scale_counts": { + "0.35": 562, + "0.45": 13 + } +} diff --git a/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_0.err b/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_0.err new file mode 100644 index 0000000000000000000000000000000000000000..1c0357e5ab2488ac113a3715ab10b86f6ebb738f --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_0.err @@ -0,0 +1,10 @@ +2026-06-29 06:54:10,766 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:54:12,796 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:54:14,888 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:54:17,032 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:54:19,128 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:54:21,292 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:54:23,386 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:54:25,552 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:54:28,191 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:54:31,256 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_0.out b/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_0.out new file mode 100644 index 0000000000000000000000000000000000000000..27ae4d55776736d477e14f8f93a4b7fd7e2d8ace --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_0.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5503126441796675, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8932803266062199, + "policy_expert_regret": 0.8171507135053854, + "action_mse_to_best": 0.38340391669746327, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5685172916687641, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.118004357999133, + "policy_expert_regret": 1.0915888802906901, + "action_mse_to_best": 0.32106486267227796, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6140440130570474, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9766454981962363, + "policy_expert_regret": 0.9632226307697308, + "action_mse_to_best": 0.3029108620248735, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31427947921351856, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41553616063221804, + "policy_expert_regret": 0.24336717680834427, + "action_mse_to_best": 0.6192189453097133, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6931385895673264, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472869423475671, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36690493197517193, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.44654435431114353, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.1030933787726394, + "policy_expert_regret": 0.9405035206464806, + "action_mse_to_best": 0.44585433056709745, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 543, + "retrieval_residual_residual_no_op": 27, + "retrieval_residual_residual_wrong_gripper": 5 + }, + "selected_residual_scale_counts": { + "0.35": 546, + "0.45": 26, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_1.err b/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_1.err new file mode 100644 index 0000000000000000000000000000000000000000..cfbcebb94a5725672529dce5cb2c6390ccc79b5c --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_1.err @@ -0,0 +1,10 @@ +2026-06-29 06:53:25,304 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:27,309 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:29,408 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:31,482 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:33,638 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:35,859 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:37,967 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:40,115 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:42,176 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:53:44,344 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_1.out b/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_1.out new file mode 100644 index 0000000000000000000000000000000000000000..5277313f85f82420aa8b383acb0558842d0b8e74 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_1.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3426086956521739, + "policy_rollout_progress": 0.5671397782376278, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9001004477460747, + "policy_expert_regret": 0.8232258063716733, + "action_mse_to_best": 0.39066116959018554, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.28804347826086957, + "policy_rollout_progress": 0.5720416819777988, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0786189543306017, + "policy_expert_regret": 1.0785949498556717, + "action_mse_to_best": 0.3197112867568174, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2768379652284478, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5489233910155139, + "policy_expert_regret": 0.30137280516914633, + "action_mse_to_best": 0.5912214504848969, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8334508080471743, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.34672937213300586, + "policy_expert_regret": 0.3295618050001763, + "action_mse_to_best": 0.3589182779327169, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3899291709556684, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3006761562038254, + "policy_expert_regret": 1.1410143090473426, + "action_mse_to_best": 0.48616488654534895, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 551, + "retrieval_residual_residual_no_op": 19, + "retrieval_residual_residual_wrong_gripper": 5 + }, + "selected_residual_scale_counts": { + "0.35": 553, + "0.45": 22 + } +} diff --git a/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_2.err b/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_2.err new file mode 100644 index 0000000000000000000000000000000000000000..62a391fd027533fe7b755f43e78fae15170f920a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_2.err @@ -0,0 +1,12 @@ +2026-06-29 06:52:35,197 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:37,184 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:39,223 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:41,296 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:43,385 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:45,511 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:47,558 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:49,703 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:51,779 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:53,861 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:55,888 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 06:52:57,996 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_2.out b/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_2.out new file mode 100644 index 0000000000000000000000000000000000000000..c1c9d28e966f4dd5040714fc5d0923717d340ae2 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_srcadvgate0p0_14902717_2.out @@ -0,0 +1,118 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5811030753205231, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8641412957282592, + "policy_expert_regret": 0.7773572164298821, + "action_mse_to_best": 0.4164458371593576, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.3544156905797233, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3282828282828283, + "policy_rollout_progress": 0.6313675380490645, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0023056363141296, + "policy_expert_regret": 0.9952221857854212, + "action_mse_to_best": 0.33569984354379806, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.33059314757724173, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5198564384201543, + "policy_expert_regret": 0.2922893420965516, + "action_mse_to_best": 0.629445428484016, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.792272014488088, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.4354507577891397, + "policy_expert_regret": 0.38054850638502896, + "action_mse_to_best": 0.38676855801650795, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.17777777777777778, + "policy_rollout_progress": 0.4144874026377996, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.2897497513227993, + "policy_expert_regret": 1.1534134613143072, + "action_mse_to_best": 0.4805574236230718, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 560, + "retrieval_residual_residual_wrong_gripper": 8, + "retrieval_residual_residual_no_op": 7 + }, + "selected_residual_scale_counts": { + "0.35": 560, + "0.45": 15 + } +} diff --git a/workspace/outputs/hpc/logs/rr_type_smoke_14903065_0.err b/workspace/outputs/hpc/logs/rr_type_smoke_14903065_0.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/rr_type_smoke_14903065_0.out b/workspace/outputs/hpc/logs/rr_type_smoke_14903065_0.out new file mode 100644 index 0000000000000000000000000000000000000000..0d159c0e749fb979736de89e9b712e1a901c659c --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_type_smoke_14903065_0.out @@ -0,0 +1,94 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 4, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.03, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.35738915391266346, + "oracle_success_rate": 0.75, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.042302681133151, + "policy_expert_regret": 0.7562528382986784, + "action_mse_to_best": 0.34660169295966625, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "PickCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.5533341951668262, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.24604947492480278, + "policy_expert_regret": 0.24604947492480278, + "action_mse_to_best": 0.34424643218517303, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.12671983242034912, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8732801675796509, + "policy_expert_regret": 1.8732801675796509, + "action_mse_to_best": 0.5963353514671326, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.19616839289665222, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.0, + "policy_oracle_regret": 1.8038316071033478, + "policy_expert_regret": 0.6596322357654572, + "action_mse_to_best": 0.10157855600118637, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 4 + }, + "selected_residual_scale_counts": { + "0.35": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_0.err b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_0.err new file mode 100644 index 0000000000000000000000000000000000000000..898b27eccc63e7f58399d64511bc4c7b571338a1 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_0.err @@ -0,0 +1,10 @@ +2026-06-29 07:07:52,306 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:54,274 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:56,356 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:58,423 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:00,499 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:02,551 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:04,611 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:06,664 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:08,693 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:10,707 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_0.out b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_0.out new file mode 100644 index 0000000000000000000000000000000000000000..765f0b1362d136ba1ddda685cb1e457b991da5b3 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_0.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.02, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5523972239823121, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8894561788188698, + "policy_expert_regret": 0.8131541233906603, + "action_mse_to_best": 0.3825652487397842, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6161075904965401, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745819207567435, + "policy_expert_regret": 0.9611590533302381, + "action_mse_to_best": 0.30267727349956447, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096365697331146, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201758026943675, + "policy_expert_regret": 0.24661976460052967, + "action_mse_to_best": 0.6003978378199911, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932199602114394, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472055717034543, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.366207129777746, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4549634422015662, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0946742908822165, + "policy_expert_regret": 0.9320844327560579, + "action_mse_to_best": 0.45811476908398396, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 545, + "retrieval_residual_residual_no_op": 21, + "retrieval_residual_residual_wrong_gripper": 9 + }, + "selected_residual_scale_counts": { + "0.35": 547, + "0.45": 24, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_1.err b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_1.err new file mode 100644 index 0000000000000000000000000000000000000000..94265ff3526dc80e18c6e677b726db2b0d097de5 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_1.err @@ -0,0 +1,10 @@ +2026-06-29 07:07:40,729 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:42,716 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:44,789 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:46,838 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:48,887 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:51,007 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:53,094 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:55,160 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:57,246 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:59,329 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_1.out b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_1.out new file mode 100644 index 0000000000000000000000000000000000000000..90339f39c4d5b0158a3e8bda14c001620d512336 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_1.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.02, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5680059776519951, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8974951178969248, + "policy_expert_regret": 0.8238418300741392, + "action_mse_to_best": 0.38996167687132305, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5742648921441287, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0709609615555762, + "policy_expert_regret": 1.070936957080646, + "action_mse_to_best": 0.31983517954611906, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3901400299190165, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004652972404773, + "policy_expert_regret": 1.1408034500839945, + "action_mse_to_best": 0.49897152742186746, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 551, + "retrieval_residual_residual_no_op": 17, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.35": 555, + "0.45": 17, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_2.err b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_2.err new file mode 100644 index 0000000000000000000000000000000000000000..20181db5a11170be95722210b647a8051c5e47fb --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_2.err @@ -0,0 +1,12 @@ +2026-06-29 07:07:38,820 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:40,822 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:42,882 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:44,915 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:46,990 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:49,055 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:51,098 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:53,191 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:55,272 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:57,336 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:59,351 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:01,479 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_2.out b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_2.out new file mode 100644 index 0000000000000000000000000000000000000000..c78154e304841372ed1537f1341dcbab35b1a7bf --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903128_2.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.02, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5817984697989375, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8634459012498448, + "policy_expert_regret": 0.7744843641161044, + "action_mse_to_best": 0.41818224725111025, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6358094570988958, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9877627071632882, + "policy_expert_regret": 0.9806792566345798, + "action_mse_to_best": 0.3356513422584594, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.327688170134752, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.522761415862644, + "policy_expert_regret": 0.2941979038908458, + "action_mse_to_best": 0.6327827039692137, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.3882303135377346, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4121342142422994, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3143251619405216, + "policy_expert_regret": 1.1650737514098486, + "action_mse_to_best": 0.48677315012448363, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 550, + "retrieval_residual_residual_wrong_gripper": 13, + "retrieval_residual_residual_no_op": 12 + }, + "selected_residual_scale_counts": { + "0.35": 553, + "0.45": 20, + "0.4": 2 + } +} diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_0.err b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_0.err new file mode 100644 index 0000000000000000000000000000000000000000..677336e4718bbb458f306752445313788d24449f --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_0.err @@ -0,0 +1,10 @@ +2026-06-29 07:07:48,587 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:50,609 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:52,700 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:54,841 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:56,905 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:58,996 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:01,078 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:03,216 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:05,307 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:07,427 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_0.out b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_0.out new file mode 100644 index 0000000000000000000000000000000000000000..2f9061e133a449717e2af4c1dae41f07fe2f84ca --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_0.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.03, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5523972239823121, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8894561788188698, + "policy_expert_regret": 0.8131541233906603, + "action_mse_to_best": 0.3825652487397842, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6161075904965401, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745819207567435, + "policy_expert_regret": 0.9611590533302381, + "action_mse_to_best": 0.30267727349956447, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096365697331146, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201758026943675, + "policy_expert_regret": 0.24661976460052967, + "action_mse_to_best": 0.6003978378199911, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932199602114394, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472055717034543, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.366207129777746, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4549634422015662, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0946742908822165, + "policy_expert_regret": 0.9320844327560579, + "action_mse_to_best": 0.45811476908398396, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 545, + "retrieval_residual_residual_no_op": 21, + "retrieval_residual_residual_wrong_gripper": 9 + }, + "selected_residual_scale_counts": { + "0.35": 547, + "0.45": 24, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_1.err b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_1.err new file mode 100644 index 0000000000000000000000000000000000000000..747a2113f5ef014351769faad2702c7e37995ed4 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_1.err @@ -0,0 +1,10 @@ +2026-06-29 07:07:46,164 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:48,231 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:50,381 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:52,540 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:54,614 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:56,844 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:58,983 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:01,121 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:03,281 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:05,403 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_1.out b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_1.out new file mode 100644 index 0000000000000000000000000000000000000000..d400b5ed21a4b1a0e1f2e49adc857b57ba07648e --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_1.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.03, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5680059776519951, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8974951178969248, + "policy_expert_regret": 0.8238418300741392, + "action_mse_to_best": 0.38996167687132305, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5742648921441287, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0709609615555762, + "policy_expert_regret": 1.070936957080646, + "action_mse_to_best": 0.31983517954611906, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.35735296048559584, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3901400299190165, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004652972404773, + "policy_expert_regret": 1.1408034500839945, + "action_mse_to_best": 0.49897152742186746, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 551, + "retrieval_residual_residual_no_op": 17, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.35": 555, + "0.45": 17, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_2.err b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_2.err new file mode 100644 index 0000000000000000000000000000000000000000..4313a239a88ec58e21cee66ab8a28593af3fbab3 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_2.err @@ -0,0 +1,12 @@ +2026-06-29 07:07:54,052 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:56,099 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:58,297 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:00,374 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:02,518 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:04,670 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:06,785 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:08,948 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:11,057 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:13,148 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:15,217 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:17,346 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_2.out b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_2.out new file mode 100644 index 0000000000000000000000000000000000000000..72c7de01596707994eb8c7f38437c31d9cc934ab --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903130_2.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.03, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5817984697989375, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8634459012498448, + "policy_expert_regret": 0.7744843641161044, + "action_mse_to_best": 0.41818224725111025, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6358094570988958, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9877627071632882, + "policy_expert_regret": 0.9806792566345798, + "action_mse_to_best": 0.3356513422584594, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.327688170134752, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.522761415862644, + "policy_expert_regret": 0.2941979038908458, + "action_mse_to_best": 0.6327827039692137, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.3882303135377346, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4121342142422994, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3143251619405216, + "policy_expert_regret": 1.1650737514098486, + "action_mse_to_best": 0.48677315012448363, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 550, + "retrieval_residual_residual_wrong_gripper": 13, + "retrieval_residual_residual_no_op": 12 + }, + "selected_residual_scale_counts": { + "0.35": 553, + "0.45": 20, + "0.4": 2 + } +} diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_0.err b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_0.err new file mode 100644 index 0000000000000000000000000000000000000000..cb8b31f030f43e799f9e3d89f267144605ca25f4 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_0.err @@ -0,0 +1,10 @@ +2026-06-29 07:07:49,158 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:51,138 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:53,166 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:55,242 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:57,291 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:59,354 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:01,399 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:03,497 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:06,424 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:08,497 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_0.out b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_0.out new file mode 100644 index 0000000000000000000000000000000000000000..4042b6475749a772e2e2e4ae02e631dc6a4511b9 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_0.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.05, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5523972239823121, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8894561788188698, + "policy_expert_regret": 0.8131541233906603, + "action_mse_to_best": 0.3825696961792267, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6161075904965401, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745819207567435, + "policy_expert_regret": 0.9611590533302381, + "action_mse_to_best": 0.30268956810379255, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096365697331146, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201758026943675, + "policy_expert_regret": 0.24661976460052967, + "action_mse_to_best": 0.6003978378199911, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932199602114394, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472055717034543, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.366207129777746, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4549634422015662, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0946742908822165, + "policy_expert_regret": 0.9320844327560579, + "action_mse_to_best": 0.45811476908398396, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 544, + "retrieval_residual_residual_no_op": 22, + "retrieval_residual_residual_wrong_gripper": 9 + }, + "selected_residual_scale_counts": { + "0.35": 546, + "0.45": 25, + "0.4": 4 + } +} diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_1.err b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_1.err new file mode 100644 index 0000000000000000000000000000000000000000..fadd68119a3bc6c29120993d49c43d0ae195ed0a --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_1.err @@ -0,0 +1,10 @@ +2026-06-29 07:07:52,126 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:54,229 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:56,428 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:58,586 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:00,753 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:02,988 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:05,181 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:07,387 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:09,599 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:11,935 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_1.out b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_1.out new file mode 100644 index 0000000000000000000000000000000000000000..6f533e385d409b049084614cb44aee33d20df23d --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_1.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.05, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5680118946828272, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8974892008660929, + "policy_expert_regret": 0.8238359130433072, + "action_mse_to_best": 0.39018872785989356, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5742833828654789, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0709424708342261, + "policy_expert_regret": 1.0709184663592959, + "action_mse_to_best": 0.31983403790661175, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.17105263157894737, + "policy_rollout_progress": 0.2778383895362678, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5479229667076939, + "policy_expert_regret": 0.3247444636531566, + "action_mse_to_best": 0.5725812048308159, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8198198198198198, + "policy_rollout_progress": 0.8333947141696741, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3467854660105061, + "policy_expert_regret": 0.32961789887767656, + "action_mse_to_best": 0.3585310179639507, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.3901400299190165, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3004652972404773, + "policy_expert_regret": 1.1408034500839945, + "action_mse_to_best": 0.49897152742186746, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 549, + "retrieval_residual_residual_no_op": 18, + "retrieval_residual_residual_wrong_gripper": 8 + }, + "selected_residual_scale_counts": { + "0.35": 553, + "0.45": 19, + "0.4": 3 + } +} diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_2.err b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_2.err new file mode 100644 index 0000000000000000000000000000000000000000..3a271a9f8e122fbd202c4812a1a7f4d8c0304e9f --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_2.err @@ -0,0 +1,12 @@ +2026-06-29 07:07:40,402 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:42,425 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:44,533 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:46,584 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:48,689 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:50,781 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:52,836 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:54,941 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:57,016 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:07:59,050 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:01,094 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:08:03,206 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_2.out b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_2.out new file mode 100644 index 0000000000000000000000000000000000000000..ab5fd0c386d8be826f61ffd02f24c27c37073c01 --- /dev/null +++ b/workspace/outputs/hpc/logs/rr_typesuccessbon_14903132_2.out @@ -0,0 +1,120 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 18, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.05, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5817622752671235, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8634820957816587, + "policy_expert_regret": 0.7745205586479184, + "action_mse_to_best": 0.41844292990134463, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35442226944239036, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357043467161029, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878678175460811, + "policy_expert_regret": 0.9807843670173727, + "action_mse_to_best": 0.3356953180686693, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.327688170134752, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.522761415862644, + "policy_expert_regret": 0.2941979038908458, + "action_mse_to_best": 0.6327827039692137, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.7922085172469073, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43551425503032043, + "policy_expert_regret": 0.38061200362620967, + "action_mse_to_best": 0.38962818792845944, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4121342142422994, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3143251619405216, + "policy_expert_regret": 1.1650737514098486, + "action_mse_to_best": 0.48677315012448363, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 548, + "retrieval_residual_residual_wrong_gripper": 14, + "retrieval_residual_residual_no_op": 13 + }, + "selected_residual_scale_counts": { + "0.35": 551, + "0.45": 22, + "0.4": 2 + } +} diff --git a/workspace/outputs/hpc/logs/smoke_comp_mask_14911977_0.err b/workspace/outputs/hpc/logs/smoke_comp_mask_14911977_0.err new file mode 100644 index 0000000000000000000000000000000000000000..617802c228a00a35eda41334b80746b858df4eaf --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_comp_mask_14911977_0.err @@ -0,0 +1,2 @@ +2026-06-29 11:39:52,674 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 11:39:54,278 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/smoke_comp_mask_14911977_0.out b/workspace/outputs/hpc/logs/smoke_comp_mask_14911977_0.out new file mode 100644 index 0000000000000000000000000000000000000000..3dda765282605aa78dde4c0e002e9b6e3b666386 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_comp_mask_14911977_0.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 8, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.42129452247172594, + "oracle_success_rate": 0.75, + "expert_success_rate": 0.625, + "policy_oracle_regret": 0.9274231595918536, + "policy_expert_regret": 0.7677409974858165, + "action_mse_to_best": 0.31736957002431154, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.7081606388092041, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.291839361190796, + "policy_expert_regret": 1.291839361190796, + "action_mse_to_best": 0.1640373021364212, + "restore_max_error": 1.4901161193847656e-08 + }, + "PickCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.5533341951668262, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.24604947492480278, + "policy_expert_regret": 0.24604947492480278, + "action_mse_to_best": 0.34424643218517303, + "restore_max_error": 1.4901161193847656e-08 + }, + "PullCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.528858095407486, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.06662896275520325, + "policy_expert_regret": 0.0, + "action_mse_to_best": 0.30013594031333923, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.12671983242034912, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8732801675796509, + "policy_expert_regret": 1.8732801675796509, + "action_mse_to_best": 0.5963353514671326, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.18554556369781494, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.814454436302185, + "policy_expert_regret": 1.2423547506332397, + "action_mse_to_best": 0.24490958079695702, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 8 + }, + "selected_residual_scale_counts": { + "0.35": 8 + } +} diff --git a/workspace/outputs/hpc/logs/smoke_compose_rr_14905927_0.err b/workspace/outputs/hpc/logs/smoke_compose_rr_14905927_0.err new file mode 100644 index 0000000000000000000000000000000000000000..a582ab7b99e9c29e428bfd64440189ffa14c71dd --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_compose_rr_14905927_0.err @@ -0,0 +1,2 @@ +2026-06-29 09:39:07,013 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 09:39:08,794 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/smoke_compose_rr_14905927_0.out b/workspace/outputs/hpc/logs/smoke_compose_rr_14905927_0.out new file mode 100644 index 0000000000000000000000000000000000000000..e21932753c19e1bee0c4fbfead892aee1ba86e28 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_compose_rr_14905927_0.out @@ -0,0 +1,121 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 8, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 48, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_reduce": "compose_mean_by_type", + "lattice_exclude_types": [ + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.3980007590726018, + "oracle_success_rate": 0.75, + "expert_success_rate": 0.625, + "policy_oracle_regret": 0.9507169229909778, + "policy_expert_regret": 0.7910347608849406, + "action_mse_to_best": 0.4505920959636569, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.5218105316162109, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.478189468383789, + "policy_expert_regret": 1.478189468383789, + "action_mse_to_best": 1.229817509651184, + "restore_max_error": 1.4901161193847656e-08 + }, + "PickCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.5533341951668262, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.24604947492480278, + "policy_expert_regret": 0.24604947492480278, + "action_mse_to_best": 0.34424643218517303, + "restore_max_error": 1.4901161193847656e-08 + }, + "PullCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.528858095407486, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.06662896275520325, + "policy_expert_regret": 0.0, + "action_mse_to_best": 0.30013594031333923, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.12671983242034912, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8732801675796509, + "policy_expert_regret": 1.8732801675796509, + "action_mse_to_best": 0.5963353514671326, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.18554556369781494, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.814454436302185, + "policy_expert_regret": 1.2423547506332397, + "action_mse_to_best": 0.24490958079695702, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_residual_no_op+residual_random_negative": 1, + "retrieval_residual_policy_residual": 7 + }, + "selected_residual_scale_counts": { + "0.45": 1, + "0.35": 7 + } +} diff --git a/workspace/outputs/hpc/logs/smoke_consensus005_14903296_0.err b/workspace/outputs/hpc/logs/smoke_consensus005_14903296_0.err new file mode 100644 index 0000000000000000000000000000000000000000..b9c24fc5d5e6368551a3db5fdf1aa855f04ec07e --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_consensus005_14903296_0.err @@ -0,0 +1,2 @@ +2026-06-29 07:22:02,701 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:22:04,533 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/smoke_consensus005_14903296_0.out b/workspace/outputs/hpc/logs/smoke_consensus005_14903296_0.out new file mode 100644 index 0000000000000000000000000000000000000000..2dd1666e6beecc890c3a005cd86ec7e757b70ace --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_consensus005_14903296_0.out @@ -0,0 +1,115 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 8, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 21, + "candidate_sigma": 0.2, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.05, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [], + "candidate_type_bonuses": { + "retrieval_residual_residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.42129452247172594, + "oracle_success_rate": 0.75, + "expert_success_rate": 0.625, + "policy_oracle_regret": 0.9274231595918536, + "policy_expert_regret": 0.7677409974858165, + "action_mse_to_best": 0.31736957002431154, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.7081606388092041, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.291839361190796, + "policy_expert_regret": 1.291839361190796, + "action_mse_to_best": 0.1640373021364212, + "restore_max_error": 1.4901161193847656e-08 + }, + "PickCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.5533341951668262, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.24604947492480278, + "policy_expert_regret": 0.24604947492480278, + "action_mse_to_best": 0.34424643218517303, + "restore_max_error": 1.4901161193847656e-08 + }, + "PullCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.528858095407486, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.06662896275520325, + "policy_expert_regret": 0.0, + "action_mse_to_best": 0.30013594031333923, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.12671983242034912, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8732801675796509, + "policy_expert_regret": 1.8732801675796509, + "action_mse_to_best": 0.5963353514671326, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.18554556369781494, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.814454436302185, + "policy_expert_regret": 1.2423547506332397, + "action_mse_to_best": 0.24490958079695702, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 8 + }, + "selected_residual_scale_counts": { + "0.35": 8 + } +} diff --git a/workspace/outputs/hpc/logs/smoke_field_optim_14842557.err b/workspace/outputs/hpc/logs/smoke_field_optim_14842557.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_field_optim_14842557.out b/workspace/outputs/hpc/logs/smoke_field_optim_14842557.out new file mode 100644 index 0000000000000000000000000000000000000000..c3206626bc2136845b999f293a64fca566a03a60 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_field_optim_14842557.out @@ -0,0 +1 @@ +{'status': 'ok', 'before': 0.48000001907348633, 'after': 0.0, 'selected_index': [0], 'bounded_max': 0.25, 'bounded_min': 0.25} diff --git a/workspace/outputs/hpc/logs/smoke_nooponly_nb_14897548_0.err b/workspace/outputs/hpc/logs/smoke_nooponly_nb_14897548_0.err new file mode 100644 index 0000000000000000000000000000000000000000..f39a20f3e55fee1eb0afadced08d05b39c5b4951 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_nooponly_nb_14897548_0.err @@ -0,0 +1,2 @@ +2026-06-29 02:02:17,075 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:02:19,139 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/smoke_nooponly_nb_14897548_0.out b/workspace/outputs/hpc/logs/smoke_nooponly_nb_14897548_0.out new file mode 100644 index 0000000000000000000000000000000000000000..989c5d01845a7d96c8a582309b020ff7076cd213 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_nooponly_nb_14897548_0.out @@ -0,0 +1,111 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 12, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction", + "residual_wrong_gripper" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.4626771081238985, + "oracle_success_rate": 0.8333333333333334, + "expert_success_rate": 0.75, + "policy_oracle_regret": 1.0198013465851545, + "policy_expert_regret": 0.9133465718477964, + "action_mse_to_best": 0.37430194827417534, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.7081606388092041, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.291839361190796, + "policy_expert_regret": 1.291839361190796, + "action_mse_to_best": 0.1640373021364212, + "restore_max_error": 1.4901161193847656e-08 + }, + "PickCube-v1": { + "num_groups": 5, + "policy_rollout_success_rate": 0.4, + "policy_rollout_progress": 0.6429717853665352, + "oracle_success_rate": 0.8, + "expert_success_rate": 0.8, + "policy_oracle_regret": 0.6767816826701164, + "policy_expert_regret": 0.6767816826701164, + "action_mse_to_best": 0.4346898257732391, + "restore_max_error": 1.4901161193847656e-08 + }, + "PullCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.528858095407486, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.06662896275520325, + "policy_expert_regret": 0.0, + "action_mse_to_best": 0.30013594031333923, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.10014920681715012, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8998507931828499, + "policy_expert_regret": 1.8998507931828499, + "action_mse_to_best": 0.5320229530334473, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.18554556369781494, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.814454436302185, + "policy_expert_regret": 1.2423547506332397, + "action_mse_to_best": 0.24490958079695702, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 12 + }, + "selected_residual_scale_counts": { + "0.4": 12 + } +} diff --git a/workspace/outputs/hpc/logs/smoke_nooponly_sc_14897549_0.err b/workspace/outputs/hpc/logs/smoke_nooponly_sc_14897549_0.err new file mode 100644 index 0000000000000000000000000000000000000000..4d3d182c15625e1af2946f2430efc4456a341f3b --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_nooponly_sc_14897549_0.err @@ -0,0 +1,2 @@ +2026-06-29 02:02:17,675 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 02:02:19,935 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/smoke_nooponly_sc_14897549_0.out b/workspace/outputs/hpc/logs/smoke_nooponly_sc_14897549_0.out new file mode 100644 index 0000000000000000000000000000000000000000..be220d337c2911c97c6c26ddb9ca23eaac2e5caf --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_nooponly_sc_14897549_0.out @@ -0,0 +1,109 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 12, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction", + "residual_wrong_gripper" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.4626771081238985, + "oracle_success_rate": 0.8333333333333334, + "expert_success_rate": 0.75, + "policy_oracle_regret": 1.0198013465851545, + "policy_expert_regret": 0.9133465718477964, + "action_mse_to_best": 0.37430194827417534, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.7081606388092041, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.291839361190796, + "policy_expert_regret": 1.291839361190796, + "action_mse_to_best": 0.1640373021364212, + "restore_max_error": 1.4901161193847656e-08 + }, + "PickCube-v1": { + "num_groups": 5, + "policy_rollout_success_rate": 0.4, + "policy_rollout_progress": 0.6429717853665352, + "oracle_success_rate": 0.8, + "expert_success_rate": 0.8, + "policy_oracle_regret": 0.6767816826701164, + "policy_expert_regret": 0.6767816826701164, + "action_mse_to_best": 0.4346898257732391, + "restore_max_error": 1.4901161193847656e-08 + }, + "PullCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.528858095407486, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.06662896275520325, + "policy_expert_regret": 0.0, + "action_mse_to_best": 0.30013594031333923, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.10014920681715012, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8998507931828499, + "policy_expert_regret": 1.8998507931828499, + "action_mse_to_best": 0.5320229530334473, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.18554556369781494, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.814454436302185, + "policy_expert_regret": 1.2423547506332397, + "action_mse_to_best": 0.24490958079695702, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 12 + }, + "selected_residual_scale_counts": { + "0.4": 12 + } +} diff --git a/workspace/outputs/hpc/logs/smoke_repair_nm_14904575_0.err b/workspace/outputs/hpc/logs/smoke_repair_nm_14904575_0.err new file mode 100644 index 0000000000000000000000000000000000000000..b541677f3c5c011661d2f8d3b1c80b0682eabb70 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_repair_nm_14904575_0.err @@ -0,0 +1,2 @@ +2026-06-29 07:44:31,399 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 07:44:33,075 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/smoke_repair_nm_14904575_0.out b/workspace/outputs/hpc/logs/smoke_repair_nm_14904575_0.out new file mode 100644 index 0000000000000000000000000000000000000000..7a8c279097168d14df87b4f2a6501fe51fe2b821 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_repair_nm_14904575_0.out @@ -0,0 +1,119 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 8, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 21, + "candidate_sigma": 0.2, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.25, + 0.35, + 0.5 + ], + "retrieval_residual_anchor": "expert", + "retrieval_residual_direction": "anchor_minus_candidate", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_no_op", + "residual_wrong_gripper", + "residual_wrong_direction", + "residual_random_negative" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.42129452247172594, + "oracle_success_rate": 0.75, + "expert_success_rate": 0.625, + "policy_oracle_regret": 0.9274231595918536, + "policy_expert_regret": 0.7677409974858165, + "action_mse_to_best": 0.31736957002431154, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.7081606388092041, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.291839361190796, + "policy_expert_regret": 1.291839361190796, + "action_mse_to_best": 0.1640373021364212, + "restore_max_error": 1.4901161193847656e-08 + }, + "PickCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.5533341951668262, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.24604947492480278, + "policy_expert_regret": 0.24604947492480278, + "action_mse_to_best": 0.34424643218517303, + "restore_max_error": 1.4901161193847656e-08 + }, + "PullCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.528858095407486, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.06662896275520325, + "policy_expert_regret": 0.0, + "action_mse_to_best": 0.30013594031333923, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.12671983242034912, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8732801675796509, + "policy_expert_regret": 1.8732801675796509, + "action_mse_to_best": 0.5963353514671326, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.18554556369781494, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.814454436302185, + "policy_expert_regret": 1.2423547506332397, + "action_mse_to_best": 0.24490958079695702, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 8 + }, + "selected_residual_scale_counts": { + "0.25": 8 + } +} diff --git a/workspace/outputs/hpc/logs/smoke_residual_hybrid_14859041.err b/workspace/outputs/hpc/logs/smoke_residual_hybrid_14859041.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_residual_hybrid_14859041.out b/workspace/outputs/hpc/logs/smoke_residual_hybrid_14859041.out new file mode 100644 index 0000000000000000000000000000000000000000..bb75b2c7abc8e44f2871cbafebe355c9fcbc3995 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_residual_hybrid_14859041.out @@ -0,0 +1 @@ +{'status': 'ok', 'action': [[[0.14752589166164398, 0.3891858458518982, -0.1399083286523819]]], 'index': [2], 'label': 'retrieval_residual_gaussian'} diff --git a/workspace/outputs/hpc/logs/smoke_residual_ray_14869627.err b/workspace/outputs/hpc/logs/smoke_residual_ray_14869627.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_residual_ray_14869627.out b/workspace/outputs/hpc/logs/smoke_residual_ray_14869627.out new file mode 100644 index 0000000000000000000000000000000000000000..7590afafc7a17498a7576968b90839ecf5ac2668 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_residual_ray_14869627.out @@ -0,0 +1 @@ +{'status': 'ok', 'actions': [[[0.20000000298023224]]], 'index': [3]} diff --git a/workspace/outputs/hpc/logs/smoke_residual_ray_14869667.err b/workspace/outputs/hpc/logs/smoke_residual_ray_14869667.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_residual_ray_14869667.out b/workspace/outputs/hpc/logs/smoke_residual_ray_14869667.out new file mode 100644 index 0000000000000000000000000000000000000000..7590afafc7a17498a7576968b90839ecf5ac2668 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_residual_ray_14869667.out @@ -0,0 +1 @@ +{'status': 'ok', 'actions': [[[0.20000000298023224]]], 'index': [3]} diff --git a/workspace/outputs/hpc/logs/smoke_residual_scale_14858889.err b/workspace/outputs/hpc/logs/smoke_residual_scale_14858889.err new file mode 100644 index 0000000000000000000000000000000000000000..c0504d5defc3015ebf8cec916760b453e1740b53 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_residual_scale_14858889.err @@ -0,0 +1,9 @@ +Traceback (most recent call last): + File "", line 26, in + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 712, in _select_action_chunk + return _select_residual_lattice_action_chunk( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 1006, in _select_residual_lattice_action_chunk + candidates = policy_mean.unsqueeze(1) + float(residual_scale) * action_residuals.to( + ^^^^^^^^^^^^^^ +NameError: name 'residual_scale' is not defined diff --git a/workspace/outputs/hpc/logs/smoke_residual_scale_14858889.out b/workspace/outputs/hpc/logs/smoke_residual_scale_14858889.out new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_residual_scale_14858894.err b/workspace/outputs/hpc/logs/smoke_residual_scale_14858894.err new file mode 100644 index 0000000000000000000000000000000000000000..a50000e6eaa2f71e0501e932b518cdea50021fb6 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_residual_scale_14858894.err @@ -0,0 +1,9 @@ +Traceback (most recent call last): + File "", line 26, in + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 711, in _select_action_chunk + return _select_residual_lattice_action_chunk( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 1011, in _select_residual_lattice_action_chunk + return _select_lattice_action_chunk( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +TypeError: _select_lattice_action_chunk() missing 1 required keyword-only argument: 'residual_scale' diff --git a/workspace/outputs/hpc/logs/smoke_residual_scale_14858894.out b/workspace/outputs/hpc/logs/smoke_residual_scale_14858894.out new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_residual_scale_14858978.err b/workspace/outputs/hpc/logs/smoke_residual_scale_14858978.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_residual_scale_14858978.out b/workspace/outputs/hpc/logs/smoke_residual_scale_14858978.out new file mode 100644 index 0000000000000000000000000000000000000000..82732f6ad96e8816c35556f4cbb9889c6e06cb31 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_residual_scale_14858978.out @@ -0,0 +1 @@ +{'status': 'ok', 'scale': 0.5, 'actions': [[[0.5, 0.5, 0.5]]], 'index': [1]} diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_metric_14859159.err b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14859159.err new file mode 100644 index 0000000000000000000000000000000000000000..3827d1330e675c343b0e242bc0e38a51a432c972 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14859159.err @@ -0,0 +1 @@ +/cvmfs/soft.computecanada.ca/gentoo/2023/x86-64-v3/usr/lib/python-exec/python3.11/python3: No module named pytest diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_metric_14859159.out b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14859159.out new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_metric_14859165.err b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14859165.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_metric_14859165.out b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14859165.out new file mode 100644 index 0000000000000000000000000000000000000000..f263369eac14f4b7e41afafdbd8a87b1cbd4d1fc --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14859165.out @@ -0,0 +1 @@ +{'status': 'ok', 'raw': 'train_a', 'zscore': 'train_b'} diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_metric_14893449.err b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14893449.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_metric_14893449.out b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14893449.out new file mode 100644 index 0000000000000000000000000000000000000000..8efdce129229995326e7d14677aff8f5ea90a92b --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14893449.out @@ -0,0 +1 @@ +{'status': 'ok', 'raw': 'train_a', 'zscore': 'train_b', 'task_relative': 'train_actor_match'} diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_metric_14894281.err b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14894281.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_metric_14894281.out b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14894281.out new file mode 100644 index 0000000000000000000000000000000000000000..f997738da698df33805e48a921728207c71be68a --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14894281.out @@ -0,0 +1 @@ +{'status': 'ok', 'raw': 'train_a', 'zscore': 'train_b', 'task_relative': 'train_actor_match', 'source_progress_lengths': [3, 3]} diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_metric_14894672.err b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14894672.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_metric_14894672.out b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14894672.out new file mode 100644 index 0000000000000000000000000000000000000000..9e9f13ac45c5ac21e7fd6419894db33f3699fef0 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14894672.out @@ -0,0 +1 @@ +{'status': 'ok', 'raw': 'train_a', 'zscore': 'train_b', 'task_relative': 'train_actor_match', 'source_progress_lengths': [3, 3], 'source_progress_bonuses': [[0.0, 0.08000000000000002, 0.0], [0.0, 0.08000000000000002, 0.08000000000000002]]} diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_metric_14897121.err b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14897121.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_metric_14897121.out b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14897121.out new file mode 100644 index 0000000000000000000000000000000000000000..9eca346cc44e482ad7b1851367fbae7de94fc8a1 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_retrieval_metric_14897121.out @@ -0,0 +1 @@ +{'status': 'ok', 'raw': 'train_a', 'zscore': 'train_b', 'task_relative': 'train_actor_match', 'source_progress_lengths': [3, 3], 'source_progress_bonuses': [[0.0, 0.17000000000000004, 0.0], [0.0, 0.12000000000000002, 0.17000000000000004]]} diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_residual_14842646.err b/workspace/outputs/hpc/logs/smoke_retrieval_residual_14842646.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smoke_retrieval_residual_14842646.out b/workspace/outputs/hpc/logs/smoke_retrieval_residual_14842646.out new file mode 100644 index 0000000000000000000000000000000000000000..ea6124042ae68f5afb737280491893b068b4be9a --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_retrieval_residual_14842646.out @@ -0,0 +1 @@ +{'status': 'ok', 'candidate_source_group_id': 'train_a;train_b', 'candidate_types': ['policy_residual', 'residual_near_miss', 'policy_residual', 'residual_wrong_direction'], 'candidate_values': [[[0.0, 0.0]], [[0.20000004768371582, 0.0]], [[0.0, 0.0]], [[-0.2999999523162842, 0.0]]]} diff --git a/workspace/outputs/hpc/logs/smoke_srcbonus003_14894673_0.err b/workspace/outputs/hpc/logs/smoke_srcbonus003_14894673_0.err new file mode 100644 index 0000000000000000000000000000000000000000..0e232cd289bf73ca77765def13a201fcdc9c9811 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_srcbonus003_14894673_0.err @@ -0,0 +1,2 @@ +2026-06-28 23:47:03,369 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:47:04,938 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/smoke_srcbonus003_14894673_0.out b/workspace/outputs/hpc/logs/smoke_srcbonus003_14894673_0.out new file mode 100644 index 0000000000000000000000000000000000000000..4779b7d79a3c362d6daba9c52d028e96d0b811f2 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_srcbonus003_14894673_0.out @@ -0,0 +1,107 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 12, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.03, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.4626771081238985, + "oracle_success_rate": 0.8333333333333334, + "expert_success_rate": 0.75, + "policy_oracle_regret": 1.0198013465851545, + "policy_expert_regret": 0.9133465718477964, + "action_mse_to_best": 0.37430194827417534, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.7081606388092041, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.291839361190796, + "policy_expert_regret": 1.291839361190796, + "action_mse_to_best": 0.1640373021364212, + "restore_max_error": 1.4901161193847656e-08 + }, + "PickCube-v1": { + "num_groups": 5, + "policy_rollout_success_rate": 0.4, + "policy_rollout_progress": 0.6429717853665352, + "oracle_success_rate": 0.8, + "expert_success_rate": 0.8, + "policy_oracle_regret": 0.6767816826701164, + "policy_expert_regret": 0.6767816826701164, + "action_mse_to_best": 0.4346898257732391, + "restore_max_error": 1.4901161193847656e-08 + }, + "PullCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.528858095407486, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.06662896275520325, + "policy_expert_regret": 0.0, + "action_mse_to_best": 0.30013594031333923, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.10014920681715012, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8998507931828499, + "policy_expert_regret": 1.8998507931828499, + "action_mse_to_best": 0.5320229530334473, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.18554556369781494, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.814454436302185, + "policy_expert_regret": 1.2423547506332397, + "action_mse_to_best": 0.24490958079695702, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 12 + }, + "selected_residual_scale_counts": { + "0.4": 12 + } +} diff --git a/workspace/outputs/hpc/logs/smoke_srcprog50_14894282_0.err b/workspace/outputs/hpc/logs/smoke_srcprog50_14894282_0.err new file mode 100644 index 0000000000000000000000000000000000000000..fa7e68782f912e326b945b244c387ed26f50a7ef --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_srcprog50_14894282_0.err @@ -0,0 +1,2 @@ +2026-06-28 23:16:14,858 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:16:16,543 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/smoke_srcprog50_14894282_0.out b/workspace/outputs/hpc/logs/smoke_srcprog50_14894282_0.out new file mode 100644 index 0000000000000000000000000000000000000000..87eaee8921a344d4e58b36d7840fec701706d941 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_srcprog50_14894282_0.out @@ -0,0 +1,108 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 12, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.5, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.4626771081238985, + "oracle_success_rate": 0.8333333333333334, + "expert_success_rate": 0.75, + "policy_oracle_regret": 1.0198013465851545, + "policy_expert_regret": 0.9133465718477964, + "action_mse_to_best": 0.37430194827417534, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.7081606388092041, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.291839361190796, + "policy_expert_regret": 1.291839361190796, + "action_mse_to_best": 0.1640373021364212, + "restore_max_error": 1.4901161193847656e-08 + }, + "PickCube-v1": { + "num_groups": 5, + "policy_rollout_success_rate": 0.4, + "policy_rollout_progress": 0.6429717853665352, + "oracle_success_rate": 0.8, + "expert_success_rate": 0.8, + "policy_oracle_regret": 0.6767816826701164, + "policy_expert_regret": 0.6767816826701164, + "action_mse_to_best": 0.4346898257732391, + "restore_max_error": 1.4901161193847656e-08 + }, + "PullCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.528858095407486, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.06662896275520325, + "policy_expert_regret": 0.0, + "action_mse_to_best": 0.30013594031333923, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.10014920681715012, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8998507931828499, + "policy_expert_regret": 1.8998507931828499, + "action_mse_to_best": 0.5320229530334473, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.18554556369781494, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.814454436302185, + "policy_expert_regret": 1.2423547506332397, + "action_mse_to_best": 0.24490958079695702, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 12 + }, + "selected_residual_scale_counts": { + "0.4": 12 + } +} diff --git a/workspace/outputs/hpc/logs/smoke_srcscore002_14897122_0.err b/workspace/outputs/hpc/logs/smoke_srcscore002_14897122_0.err new file mode 100644 index 0000000000000000000000000000000000000000..af2253e8f68e36a3eddb16a4c0d826720606b6e4 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_srcscore002_14897122_0.err @@ -0,0 +1,2 @@ +2026-06-29 01:37:00,710 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:37:02,495 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/smoke_srcscore002_14897122_0.out b/workspace/outputs/hpc/logs/smoke_srcscore002_14897122_0.out new file mode 100644 index 0000000000000000000000000000000000000000..a8305cfac97b81f36b3be435f2b988e704a73a17 --- /dev/null +++ b/workspace/outputs/hpc/logs/smoke_srcscore002_14897122_0.out @@ -0,0 +1,108 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 12, + "group_batch_size": 1, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.25, + "policy_rollout_progress": 0.4626771081238985, + "oracle_success_rate": 0.8333333333333334, + "expert_success_rate": 0.75, + "policy_oracle_regret": 1.0198013465851545, + "policy_expert_regret": 0.9133465718477964, + "action_mse_to_best": 0.37430194827417534, + "restore_max_error": 1.4901161193847656e-08, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 1, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.7081606388092041, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.291839361190796, + "policy_expert_regret": 1.291839361190796, + "action_mse_to_best": 0.1640373021364212, + "restore_max_error": 1.4901161193847656e-08 + }, + "PickCube-v1": { + "num_groups": 5, + "policy_rollout_success_rate": 0.4, + "policy_rollout_progress": 0.6429717853665352, + "oracle_success_rate": 0.8, + "expert_success_rate": 0.8, + "policy_oracle_regret": 0.6767816826701164, + "policy_expert_regret": 0.6767816826701164, + "action_mse_to_best": 0.4346898257732391, + "restore_max_error": 1.4901161193847656e-08 + }, + "PullCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.5, + "policy_rollout_progress": 0.528858095407486, + "oracle_success_rate": 0.5, + "expert_success_rate": 0.5, + "policy_oracle_regret": 0.06662896275520325, + "policy_expert_regret": 0.0, + "action_mse_to_best": 0.30013594031333923, + "restore_max_error": 1.4901161193847656e-08 + }, + "PushCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.10014920681715012, + "oracle_success_rate": 1.0, + "expert_success_rate": 1.0, + "policy_oracle_regret": 1.8998507931828499, + "policy_expert_regret": 1.8998507931828499, + "action_mse_to_best": 0.5320229530334473, + "restore_max_error": 1.4901161193847656e-08 + }, + "StackCube-v1": { + "num_groups": 2, + "policy_rollout_success_rate": 0.0, + "policy_rollout_progress": 0.18554556369781494, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.5, + "policy_oracle_regret": 1.814454436302185, + "policy_expert_regret": 1.2423547506332397, + "action_mse_to_best": 0.24490958079695702, + "restore_max_error": 1.4901161193847656e-08 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 12 + }, + "selected_residual_scale_counts": { + "0.4": 12 + } +} diff --git a/workspace/outputs/hpc/logs/smolvla_deps_install_14500879.err b/workspace/outputs/hpc/logs/smolvla_deps_install_14500879.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smolvla_deps_install_14500879.out b/workspace/outputs/hpc/logs/smolvla_deps_install_14500879.out new file mode 100644 index 0000000000000000000000000000000000000000..5c9b83298bed8dc7e4d00cf8f74597514692892b --- /dev/null +++ b/workspace/outputs/hpc/logs/smolvla_deps_install_14500879.out @@ -0,0 +1,47 @@ +Looking in links: /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/gentoo2023/x86-64-v4, /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/gentoo2023/x86-64-v3, /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/gentoo2023/generic, /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/generic, /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/gentoo2023/x86-64-v3, /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/gentoo2023/generic +Processing /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/generic/transformers-4.57.6+computecanada-py3-none-any.whl +Processing /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/generic/huggingface_hub-0.35.3+computecanada-py3-none-any.whl +Processing /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/generic/accelerate-1.10.1+computecanada-py3-none-any.whl +Processing /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/generic/num2words-0.5.14+computecanada-py3-none-any.whl +Requirement already satisfied: filelock in /opt/conda/lib/python3.11/site-packages (from transformers==4.57.6+computecanada) (3.18.0) +Requirement already satisfied: numpy>=1.17 in /opt/conda/lib/python3.11/site-packages (from transformers==4.57.6+computecanada) (2.2.6) +Requirement already satisfied: packaging>=20.0 in /opt/conda/lib/python3.11/site-packages (from transformers==4.57.6+computecanada) (25.0) +Requirement already satisfied: pyyaml>=5.1 in /opt/conda/lib/python3.11/site-packages (from transformers==4.57.6+computecanada) (6.0.2) +Processing /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/generic/regex-2026.1.15+computecanada-cp311-cp311-linux_x86_64.whl (from transformers==4.57.6+computecanada) +Requirement already satisfied: requests in /opt/conda/lib/python3.11/site-packages (from transformers==4.57.6+computecanada) (2.32.3) +Processing /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/gentoo2023/generic/tokenizers-0.22.2+computecanada-cp39-abi3-linux_x86_64.whl (from transformers==4.57.6+computecanada) +Processing /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/gentoo2023/generic/safetensors-0.8.0+computecanada-cp310-abi3-linux_x86_64.whl (from transformers==4.57.6+computecanada) +Requirement already satisfied: tqdm>=4.27 in /opt/conda/lib/python3.11/site-packages (from transformers==4.57.6+computecanada) (4.67.1) +Requirement already satisfied: fsspec>=2023.5.0 in /opt/conda/lib/python3.11/site-packages (from huggingface-hub==0.35.3+computecanada) (2025.5.1) +Processing /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/generic/hf_xet-1.5.1+computecanada-cp37-abi3-linux_x86_64.whl (from huggingface-hub==0.35.3+computecanada) +Requirement already satisfied: typing-extensions>=3.7.4.3 in /opt/conda/lib/python3.11/site-packages (from huggingface-hub==0.35.3+computecanada) (4.14.0) +Requirement already satisfied: psutil in /opt/conda/lib/python3.11/site-packages (from accelerate==1.10.1+computecanada) (7.0.0) +Requirement already satisfied: torch>=2.0.0 in /opt/conda/lib/python3.11/site-packages (from accelerate==1.10.1+computecanada) (2.7.1+cu128) +Processing /cvmfs/soft.computecanada.ca/custom/python/wheelhouse/generic/docopt-0.6.2+computecanada-py2.py3-none-any.whl (from num2words==0.5.14+computecanada) +Requirement already satisfied: sympy>=1.13.3 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (1.14.0) +Requirement already satisfied: networkx in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (3.5) +Requirement already satisfied: jinja2 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (3.1.6) +Requirement already satisfied: nvidia-cuda-nvrtc-cu12==12.8.61 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (12.8.61) +Requirement already satisfied: nvidia-cuda-runtime-cu12==12.8.57 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (12.8.57) +Requirement already satisfied: nvidia-cuda-cupti-cu12==12.8.57 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (12.8.57) +Requirement already satisfied: nvidia-cudnn-cu12==9.7.1.26 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (9.7.1.26) +Requirement already satisfied: nvidia-cublas-cu12==12.8.3.14 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (12.8.3.14) +Requirement already satisfied: nvidia-cufft-cu12==11.3.3.41 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (11.3.3.41) +Requirement already satisfied: nvidia-curand-cu12==10.3.9.55 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (10.3.9.55) +Requirement already satisfied: nvidia-cusolver-cu12==11.7.2.55 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (11.7.2.55) +Requirement already satisfied: nvidia-cusparse-cu12==12.5.7.53 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (12.5.7.53) +Requirement already satisfied: nvidia-cusparselt-cu12==0.6.3 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (0.6.3) +Requirement already satisfied: nvidia-nccl-cu12==2.26.2 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (2.26.2) +Requirement already satisfied: nvidia-nvtx-cu12==12.8.55 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (12.8.55) +Requirement already satisfied: nvidia-nvjitlink-cu12==12.8.61 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (12.8.61) +Requirement already satisfied: nvidia-cufile-cu12==1.13.0.11 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (1.13.0.11) +Requirement already satisfied: triton==3.3.1 in /opt/conda/lib/python3.11/site-packages (from torch>=2.0.0->accelerate==1.10.1+computecanada) (3.3.1) +Requirement already satisfied: setuptools>=40.8.0 in /scratch/knguy52/dovla/envs/smolvla/lib/python3.11/site-packages (from triton==3.3.1->torch>=2.0.0->accelerate==1.10.1+computecanada) (65.5.0) +Requirement already satisfied: charset_normalizer<4,>=2 in /opt/conda/lib/python3.11/site-packages (from requests->transformers==4.57.6+computecanada) (3.4.2) +Requirement already satisfied: idna<4,>=2.5 in /opt/conda/lib/python3.11/site-packages (from requests->transformers==4.57.6+computecanada) (3.10) +Requirement already satisfied: urllib3<3,>=1.21.1 in /opt/conda/lib/python3.11/site-packages (from requests->transformers==4.57.6+computecanada) (2.4.0) +Requirement already satisfied: certifi>=2017.4.17 in /opt/conda/lib/python3.11/site-packages (from requests->transformers==4.57.6+computecanada) (2025.4.26) +Requirement already satisfied: mpmath<1.4,>=1.1.0 in /opt/conda/lib/python3.11/site-packages (from sympy>=1.13.3->torch>=2.0.0->accelerate==1.10.1+computecanada) (1.3.0) +Requirement already satisfied: MarkupSafe>=2.0 in /opt/conda/lib/python3.11/site-packages (from jinja2->torch>=2.0.0->accelerate==1.10.1+computecanada) (3.0.2) +Installing collected packages: docopt, safetensors, regex, num2words, hf-xet, huggingface-hub, tokenizers, transformers, accelerate +Successfully installed accelerate-1.10.1+computecanada docopt-0.6.2+computecanada hf-xet-1.5.1+computecanada huggingface-hub-0.35.3+computecanada num2words-0.5.14+computecanada regex-2026.1.15+computecanada safetensors-0.8.0+computecanada tokenizers-0.22.2+computecanada transformers-4.57.6+computecanada diff --git a/workspace/outputs/hpc/logs/smolvla_env_create_14500684.err b/workspace/outputs/hpc/logs/smolvla_env_create_14500684.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smolvla_env_create_14500684.out b/workspace/outputs/hpc/logs/smolvla_env_create_14500684.out new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smolvla_python_probe_14500571.err b/workspace/outputs/hpc/logs/smolvla_python_probe_14500571.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/smolvla_python_probe_14500571.out b/workspace/outputs/hpc/logs/smolvla_python_probe_14500571.out new file mode 100644 index 0000000000000000000000000000000000000000..4af9c072084f57f8e03e4106a9be0830214044d1 --- /dev/null +++ b/workspace/outputs/hpc/logs/smolvla_python_probe_14500571.out @@ -0,0 +1 @@ +3.11.13 | packaged by conda-forge | (main, Jun 4 2025, 14:48:23) [GCC 13.3.0] diff --git a/workspace/outputs/hpc/logs/srcbon003_14894674_0.err b/workspace/outputs/hpc/logs/srcbon003_14894674_0.err new file mode 100644 index 0000000000000000000000000000000000000000..d219242d7257b3204694f3470d92f95d0bf8042b --- /dev/null +++ b/workspace/outputs/hpc/logs/srcbon003_14894674_0.err @@ -0,0 +1,10 @@ +2026-06-28 23:55:02,559 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:04,560 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:06,642 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:08,718 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:10,825 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:12,887 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:15,004 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:17,098 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:19,168 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:21,217 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcbon003_14894674_0.out b/workspace/outputs/hpc/logs/srcbon003_14894674_0.out new file mode 100644 index 0000000000000000000000000000000000000000..7f61834ea59ed0a3a489c1f5aee80907e9d1004f --- /dev/null +++ b/workspace/outputs/hpc/logs/srcbon003_14894674_0.out @@ -0,0 +1,109 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.03, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5509942502163998, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8908591525847821, + "policy_expert_regret": 0.8145639586618737, + "action_mse_to_best": 0.3816248880099991, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6161086453268161, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745808659264674, + "policy_expert_regret": 0.961157998499962, + "action_mse_to_best": 0.30265120019276553, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096777588649133, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201346135625688, + "policy_expert_regret": 0.246578575468731, + "action_mse_to_best": 0.6002476956550177, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932619321853557, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.647163599729538, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36465501579198434, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4467407528198127, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.10289698026397, + "policy_expert_regret": 0.9403071221378114, + "action_mse_to_best": 0.45429835988754275, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 547, + "retrieval_residual_residual_no_op": 21, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcbon003_14894674_1.err b/workspace/outputs/hpc/logs/srcbon003_14894674_1.err new file mode 100644 index 0000000000000000000000000000000000000000..c78547c7df7d482f31589952f995c918d1ebc602 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcbon003_14894674_1.err @@ -0,0 +1,10 @@ +2026-06-28 23:54:55,902 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:54:57,852 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:54:59,960 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:01,972 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:04,045 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:06,192 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:08,251 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:10,297 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:12,338 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:14,401 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcbon003_14894674_1.out b/workspace/outputs/hpc/logs/srcbon003_14894674_1.out new file mode 100644 index 0000000000000000000000000000000000000000..38725bc817298f272d13d09e78a742dd277d913e --- /dev/null +++ b/workspace/outputs/hpc/logs/srcbon003_14894674_1.out @@ -0,0 +1,109 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.03, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3426086956521739, + "policy_rollout_progress": 0.5665316749817652, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9007085510019375, + "policy_expert_regret": 0.8206265665882307, + "action_mse_to_best": 0.38801324410445015, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5742986448939241, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0709272088057806, + "policy_expert_regret": 1.0709032043308506, + "action_mse_to_best": 0.31969962222501636, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.28913191000097677, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5234715515061429, + "policy_expert_regret": 0.30013844498286124, + "action_mse_to_best": 0.5715771112591028, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8181245796852283, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.38007361851296984, + "policy_expert_regret": 0.32971009934270706, + "action_mse_to_best": 0.35765871029716356, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.38995039070045556, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3006549364590383, + "policy_expert_regret": 1.1409930893025555, + "action_mse_to_best": 0.48739973169106704, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 554, + "retrieval_residual_residual_no_op": 13, + "retrieval_residual_residual_wrong_gripper": 8 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcbon003_14894674_2.err b/workspace/outputs/hpc/logs/srcbon003_14894674_2.err new file mode 100644 index 0000000000000000000000000000000000000000..cef0b97c23ebddee8afa93637c0f210cf68938e2 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcbon003_14894674_2.err @@ -0,0 +1,12 @@ +2026-06-28 23:54:57,124 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:54:59,132 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:01,211 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:03,238 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:05,343 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:07,404 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:09,470 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:11,541 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:13,633 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:15,638 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:17,670 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:19,746 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcbon003_14894674_2.out b/workspace/outputs/hpc/logs/srcbon003_14894674_2.out new file mode 100644 index 0000000000000000000000000000000000000000..25511a8f48a95dcb0f9dc72d6d124d08116199f6 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcbon003_14894674_2.out @@ -0,0 +1,109 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.03, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.36869565217391304, + "policy_rollout_progress": 0.5828851233995058, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8606201172144938, + "policy_expert_regret": 0.7736795360217049, + "action_mse_to_best": 0.41659943506850494, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35488338287783944, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357372662409989, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878348980211851, + "policy_expert_regret": 0.9807514474924767, + "action_mse_to_best": 0.335480088330429, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.31892168570862445, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5426390113998827, + "policy_expert_regret": 0.3140720418619821, + "action_mse_to_best": 0.6283310380246904, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8008749307972369, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.41694685138098087, + "policy_expert_regret": 0.3620445999768701, + "action_mse_to_best": 0.3851195577495169, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.16666666666666666, + "policy_rollout_progress": 0.4182763857973946, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.2970718792743152, + "policy_expert_regret": 1.1607355892658233, + "action_mse_to_best": 0.4844882684863276, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 551, + "retrieval_residual_residual_wrong_gripper": 12, + "retrieval_residual_residual_no_op": 12 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcbon005_14894675_0.err b/workspace/outputs/hpc/logs/srcbon005_14894675_0.err new file mode 100644 index 0000000000000000000000000000000000000000..19195e4378c7e893f280c6fc1a47c1a4d3d739fb --- /dev/null +++ b/workspace/outputs/hpc/logs/srcbon005_14894675_0.err @@ -0,0 +1,10 @@ +2026-06-28 23:55:03,860 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:05,902 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:08,095 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:10,245 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:12,348 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:14,541 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:16,617 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:18,730 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:20,800 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:22,873 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcbon005_14894675_0.out b/workspace/outputs/hpc/logs/srcbon005_14894675_0.out new file mode 100644 index 0000000000000000000000000000000000000000..3b4df74cf0312227f094eccd4b51d8adca114de0 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcbon005_14894675_0.out @@ -0,0 +1,109 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.05, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5506076139916221, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8929849192443425, + "policy_expert_regret": 0.8166897253214341, + "action_mse_to_best": 0.3820005126459443, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.33653846153846156, + "policy_rollout_progress": 0.6140019423686541, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9814952611923218, + "policy_expert_regret": 0.9680723937658163, + "action_mse_to_best": 0.30271800868929577, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.312481374268166, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41733099815931607, + "policy_expert_regret": 0.24377496006547825, + "action_mse_to_best": 0.6028722151146306, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932619321853557, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.647163599729538, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36465501579198434, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4467407528198127, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.10289698026397, + "policy_expert_regret": 0.9403071221378114, + "action_mse_to_best": 0.45429835988754275, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 542, + "retrieval_residual_residual_no_op": 26, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcbon005_14894675_1.err b/workspace/outputs/hpc/logs/srcbon005_14894675_1.err new file mode 100644 index 0000000000000000000000000000000000000000..7bdf9e3afb1b08ad39602400618b46074933a422 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcbon005_14894675_1.err @@ -0,0 +1,10 @@ +2026-06-28 23:54:58,846 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:00,808 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:02,860 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:04,866 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:06,895 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:08,989 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:11,096 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:13,124 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:15,218 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:17,269 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcbon005_14894675_1.out b/workspace/outputs/hpc/logs/srcbon005_14894675_1.out new file mode 100644 index 0000000000000000000000000000000000000000..44570d39ed0f7ace9111fdafc8ac2609b845ddc6 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcbon005_14894675_1.out @@ -0,0 +1,109 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.05, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3426086956521739, + "policy_rollout_progress": 0.5665060519297486, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9007341740539541, + "policy_expert_regret": 0.8206521896402473, + "action_mse_to_best": 0.38828682124776687, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.32591217734018524, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5743152240554438, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0709106296442612, + "policy_expert_regret": 1.070886625169331, + "action_mse_to_best": 0.31969838518568355, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.28913191000097677, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5234715515061429, + "policy_expert_regret": 0.30013844498286124, + "action_mse_to_best": 0.5715771112591028, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8181245796852283, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.38007361851296984, + "policy_expert_regret": 0.32971009934270706, + "action_mse_to_best": 0.35765871029716356, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.38975496410013555, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3008503630593582, + "policy_expert_regret": 1.1411885159028756, + "action_mse_to_best": 0.48870731873826667, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 549, + "retrieval_residual_residual_wrong_gripper": 10, + "retrieval_residual_residual_no_op": 16 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcbon005_14894675_2.err b/workspace/outputs/hpc/logs/srcbon005_14894675_2.err new file mode 100644 index 0000000000000000000000000000000000000000..ba8a72610140821870b78ab44b780ef0f7e15eb2 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcbon005_14894675_2.err @@ -0,0 +1,12 @@ +2026-06-28 23:55:57,641 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:55:59,636 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:56:01,692 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:56:03,740 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:56:05,828 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:56:07,904 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:56:09,932 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:56:12,056 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:56:14,105 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:56:16,171 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:56:18,194 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:56:20,354 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcbon005_14894675_2.out b/workspace/outputs/hpc/logs/srcbon005_14894675_2.out new file mode 100644 index 0000000000000000000000000000000000000000..c3c12835f932caa8a2d80737aae9251bd297052a --- /dev/null +++ b/workspace/outputs/hpc/logs/srcbon005_14894675_2.out @@ -0,0 +1,109 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.05, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5823397008869537, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8629046701618284, + "policy_expert_regret": 0.7759640889690396, + "action_mse_to_best": 0.41680195091940136, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3229166666666667, + "policy_rollout_progress": 0.6430536963356038, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9676381602572898, + "policy_expert_regret": 0.8613684703595936, + "action_mse_to_best": 0.35600885640693986, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357372662409989, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878348980211851, + "policy_expert_regret": 0.9807514474924767, + "action_mse_to_best": 0.33552251840856945, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.31892168570862445, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5426390113998827, + "policy_expert_regret": 0.3140720418619821, + "action_mse_to_best": 0.6283310380246904, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8008749307972369, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.41694685138098087, + "policy_expert_regret": 0.3620445999768701, + "action_mse_to_best": 0.3851195577495169, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.16666666666666666, + "policy_rollout_progress": 0.4182763857973946, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.2970718792743152, + "policy_expert_regret": 1.1607355892658233, + "action_mse_to_best": 0.4844882684863276, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 548, + "retrieval_residual_residual_wrong_gripper": 14, + "retrieval_residual_residual_no_op": 13 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcprog25_14894438_0.err b/workspace/outputs/hpc/logs/srcprog25_14894438_0.err new file mode 100644 index 0000000000000000000000000000000000000000..adab20908ab468d4a0190c7674dd161b3b9a60c0 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog25_14894438_0.err @@ -0,0 +1,10 @@ +2026-06-28 23:34:53,490 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:55,567 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:57,748 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:00,004 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:02,224 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:04,406 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:06,559 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:08,731 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:10,891 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:13,005 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcprog25_14894438_0.out b/workspace/outputs/hpc/logs/srcprog25_14894438_0.out new file mode 100644 index 0000000000000000000000000000000000000000..7fd02eb2b695d165262dac6d6c28cbed9e74f786 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog25_14894438_0.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.25, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5531306872541166, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8887227155470654, + "policy_expert_regret": 0.8130287756519797, + "action_mse_to_best": 0.3806488878927801, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.61610661017207, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9745829010812136, + "policy_expert_regret": 0.9611600336547081, + "action_mse_to_best": 0.3026791258285252, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.31160062367048164, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.41821174875700046, + "policy_expert_regret": 0.24465571066316266, + "action_mse_to_best": 0.6017536743507756, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6931385895673264, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472869423475671, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.3655355303211415, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4577751793343611, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0918625537494215, + "policy_expert_regret": 0.9328819407959177, + "action_mse_to_best": 0.4465636394334712, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 548, + "retrieval_residual_residual_no_op": 22, + "retrieval_residual_residual_wrong_gripper": 5 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcprog25_14894438_1.err b/workspace/outputs/hpc/logs/srcprog25_14894438_1.err new file mode 100644 index 0000000000000000000000000000000000000000..8507035b58b8dca46c7f74471d546871e096a483 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog25_14894438_1.err @@ -0,0 +1,10 @@ +2026-06-28 23:34:38,875 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:40,853 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:42,975 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:45,014 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:47,111 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:49,292 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:51,397 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:53,508 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:55,522 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:57,591 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcprog25_14894438_1.out b/workspace/outputs/hpc/logs/srcprog25_14894438_1.out new file mode 100644 index 0000000000000000000000000000000000000000..2ee3340baeb974173996bd10b80d0fa9f5b7091f --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog25_14894438_1.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.25, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3426086956521739, + "policy_rollout_progress": 0.5665848689591108, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9006553570245919, + "policy_expert_regret": 0.8174663078687762, + "action_mse_to_best": 0.391552833929334, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5743172117407717, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.070908641958933, + "policy_expert_regret": 1.070884637484003, + "action_mse_to_best": 0.3196963686698481, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.2888681537128593, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5237353077942604, + "policy_expert_regret": 0.2767667864988509, + "action_mse_to_best": 0.5889865492323512, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8182310982867405, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3799670999114578, + "policy_expert_regret": 0.32969123205623113, + "action_mse_to_best": 0.3562793269887701, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.39033931542883865, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3002660117306553, + "policy_expert_regret": 1.1406041645741725, + "action_mse_to_best": 0.49691464449023154, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 557, + "retrieval_residual_residual_no_op": 14, + "retrieval_residual_residual_wrong_gripper": 4 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcprog25_14894438_2.err b/workspace/outputs/hpc/logs/srcprog25_14894438_2.err new file mode 100644 index 0000000000000000000000000000000000000000..f0ae664b594f0b4e47483f47e9bc277d9016cbd8 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog25_14894438_2.err @@ -0,0 +1,12 @@ +2026-06-28 23:35:10,156 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:12,226 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:14,348 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:16,476 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:18,584 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:20,737 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:22,817 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:24,949 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:27,056 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:29,090 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:31,133 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:35:33,906 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcprog25_14894438_2.out b/workspace/outputs/hpc/logs/srcprog25_14894438_2.out new file mode 100644 index 0000000000000000000000000000000000000000..d40fafac503dbed3718035cabe604e246f3fb8aa --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog25_14894438_2.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.25, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5809899005088696, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8642544705399126, + "policy_expert_regret": 0.7753999788389679, + "action_mse_to_best": 0.41675619106820744, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35425197959314875, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357372662409989, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878348980211851, + "policy_expert_regret": 0.9807514474924767, + "action_mse_to_best": 0.33552251840856945, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.32795630580987767, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5224932801875184, + "policy_expert_regret": 0.2946136695919146, + "action_mse_to_best": 0.6325531636675199, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.791532487414851, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43619028486237665, + "policy_expert_regret": 0.38128803345826595, + "action_mse_to_best": 0.3823454522407881, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4076176948017544, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3188416813810666, + "policy_expert_regret": 1.1695902708503936, + "action_mse_to_best": 0.4849609530220429, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 554, + "retrieval_residual_residual_wrong_gripper": 9, + "retrieval_residual_residual_no_op": 12 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcprog50_14894093_0.err b/workspace/outputs/hpc/logs/srcprog50_14894093_0.err new file mode 100644 index 0000000000000000000000000000000000000000..e6c55393e444ab34ad99f305818283a25e446419 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog50_14894093_0.err @@ -0,0 +1,13 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 243, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 207, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 265, in evaluate_maniskill_policy_rollout + task_rows = _evaluate_task_cases( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 924, in _evaluate_task_cases + torch.tensor( +ValueError: expected sequence of length 6 at dim 1 (got 3) diff --git a/workspace/outputs/hpc/logs/srcprog50_14894093_0.out b/workspace/outputs/hpc/logs/srcprog50_14894093_0.out new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/srcprog50_14894093_1.err b/workspace/outputs/hpc/logs/srcprog50_14894093_1.err new file mode 100644 index 0000000000000000000000000000000000000000..0f3f0151f693879eb764b562a2870dd8b9d5569c --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog50_14894093_1.err @@ -0,0 +1,13 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 243, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 207, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 265, in evaluate_maniskill_policy_rollout + task_rows = _evaluate_task_cases( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 924, in _evaluate_task_cases + torch.tensor( +ValueError: expected sequence of length 6 at dim 1 (got 2) diff --git a/workspace/outputs/hpc/logs/srcprog50_14894093_1.out b/workspace/outputs/hpc/logs/srcprog50_14894093_1.out new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/srcprog50_14894093_2.err b/workspace/outputs/hpc/logs/srcprog50_14894093_2.err new file mode 100644 index 0000000000000000000000000000000000000000..928ea9e82397ba7c809cea07b3f8f2d2bcbf8a1a --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog50_14894093_2.err @@ -0,0 +1,13 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 243, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 207, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 265, in evaluate_maniskill_policy_rollout + task_rows = _evaluate_task_cases( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 924, in _evaluate_task_cases + torch.tensor( +ValueError: expected sequence of length 6 at dim 1 (got 5) diff --git a/workspace/outputs/hpc/logs/srcprog50_14894093_2.out b/workspace/outputs/hpc/logs/srcprog50_14894093_2.out new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/srcprog50_14894298_0.err b/workspace/outputs/hpc/logs/srcprog50_14894298_0.err new file mode 100644 index 0000000000000000000000000000000000000000..ed391d6f98f5a3cc759c749548e537d5d11adb62 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog50_14894298_0.err @@ -0,0 +1,10 @@ +2026-06-28 23:24:24,662 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:26,893 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:28,976 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:31,185 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:33,395 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:35,522 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:37,656 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:40,016 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:42,305 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:44,372 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcprog50_14894298_0.out b/workspace/outputs/hpc/logs/srcprog50_14894298_0.out new file mode 100644 index 0000000000000000000000000000000000000000..d55af49c50e1fd51aa54dd2f2005097364185b76 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog50_14894298_0.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.5, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5515018990822136, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8920906341537509, + "policy_expert_regret": 0.8134355480491143, + "action_mse_to_best": 0.3811863754203786, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160199960263876, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.974669515226896, + "policy_expert_regret": 0.9612466478003905, + "action_mse_to_best": 0.30271290317894173, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.19480519480519481, + "policy_rollout_progress": 0.2996715657933095, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4431278196211856, + "policy_expert_regret": 0.2474593260664154, + "action_mse_to_best": 0.6056761372011977, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6931385895673264, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472869423475671, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.3655355303211415, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4577751793343611, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.0918625537494215, + "policy_expert_regret": 0.9328819407959177, + "action_mse_to_best": 0.4465636394334712, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 551, + "retrieval_residual_residual_no_op": 19, + "retrieval_residual_residual_wrong_gripper": 5 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcprog50_14894298_1.err b/workspace/outputs/hpc/logs/srcprog50_14894298_1.err new file mode 100644 index 0000000000000000000000000000000000000000..86de23cf74197af8e267178df327b94f084f9eaa --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog50_14894298_1.err @@ -0,0 +1,10 @@ +2026-06-28 23:24:21,500 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:23,612 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:25,728 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:27,809 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:29,884 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:32,116 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:34,276 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:36,416 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:38,485 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:24:40,614 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcprog50_14894298_1.out b/workspace/outputs/hpc/logs/srcprog50_14894298_1.out new file mode 100644 index 0000000000000000000000000000000000000000..7e0956ef3c3b2cbf12e348c2e743a0fd62e1aa62 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog50_14894298_1.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.5, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3373913043478261, + "policy_rollout_progress": 0.563071041194641, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9093865760934093, + "policy_expert_regret": 0.8231835632382528, + "action_mse_to_best": 0.39197744842618704, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.28804347826086957, + "policy_rollout_progress": 0.5720489268575836, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.078611709450817, + "policy_expert_regret": 1.0785877049758867, + "action_mse_to_best": 0.31963543628301955, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.15789473684210525, + "policy_rollout_progress": 0.267774909685709, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5711443412950948, + "policy_expert_regret": 0.30137280516914633, + "action_mse_to_best": 0.5923466136384952, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8182310982867405, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3799670999114578, + "policy_expert_regret": 0.32969123205623113, + "action_mse_to_best": 0.3562793269887701, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.39033931542883865, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3002660117306553, + "policy_expert_regret": 1.1406041645741725, + "action_mse_to_best": 0.49691464449023154, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 555, + "retrieval_residual_residual_no_op": 16, + "retrieval_residual_residual_wrong_gripper": 4 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcprog50_14894298_2.err b/workspace/outputs/hpc/logs/srcprog50_14894298_2.err new file mode 100644 index 0000000000000000000000000000000000000000..0c9d06a6f1afc2e235b2d3393a02749921e2a185 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog50_14894298_2.err @@ -0,0 +1,12 @@ +2026-06-28 23:29:21,367 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:23,794 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:26,019 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:28,406 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:30,748 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:33,064 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:35,187 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:37,400 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:39,619 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:41,696 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:43,762 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:45,915 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcprog50_14894298_2.out b/workspace/outputs/hpc/logs/srcprog50_14894298_2.out new file mode 100644 index 0000000000000000000000000000000000000000..36a162d4567d1e5043238815fb62cf6d2d243c1a --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog50_14894298_2.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.5, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.36695652173913046, + "policy_rollout_progress": 0.5811821880731473, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.864062182975635, + "policy_expert_regret": 0.7752076912746902, + "action_mse_to_best": 0.41603423330689904, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35425197959314875, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357537138115879, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878184504505961, + "policy_expert_regret": 0.9807349999218878, + "action_mse_to_best": 0.33544841907316386, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.32914862503746717, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5213009609599288, + "policy_expert_regret": 0.2934213503643251, + "action_mse_to_best": 0.6281036742859416, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.791532487414851, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43619028486237665, + "policy_expert_regret": 0.38128803345826595, + "action_mse_to_best": 0.3823454522407881, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.4076176948017544, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.3188416813810666, + "policy_expert_regret": 1.1695902708503936, + "action_mse_to_best": 0.4849609530220429, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 557, + "retrieval_residual_residual_wrong_gripper": 9, + "retrieval_residual_residual_no_op": 9 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcprog75_14894095_0.err b/workspace/outputs/hpc/logs/srcprog75_14894095_0.err new file mode 100644 index 0000000000000000000000000000000000000000..504c3ee5e5316d85ae9b83bb8c69ce8af2c597e2 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog75_14894095_0.err @@ -0,0 +1,13 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 243, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 207, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 265, in evaluate_maniskill_policy_rollout + task_rows = _evaluate_task_cases( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 924, in _evaluate_task_cases + torch.tensor( +ValueError: expected sequence of length 5 at dim 1 (got 4) diff --git a/workspace/outputs/hpc/logs/srcprog75_14894095_0.out b/workspace/outputs/hpc/logs/srcprog75_14894095_0.out new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/srcprog75_14894095_1.err b/workspace/outputs/hpc/logs/srcprog75_14894095_1.err new file mode 100644 index 0000000000000000000000000000000000000000..3039d584e14cb642a2e12b1e5bd9985154784c1e --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog75_14894095_1.err @@ -0,0 +1,13 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 243, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 207, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 265, in evaluate_maniskill_policy_rollout + task_rows = _evaluate_task_cases( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 924, in _evaluate_task_cases + torch.tensor( +ValueError: expected sequence of length 4 at dim 1 (got 2) diff --git a/workspace/outputs/hpc/logs/srcprog75_14894095_1.out b/workspace/outputs/hpc/logs/srcprog75_14894095_1.out new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/srcprog75_14894095_2.err b/workspace/outputs/hpc/logs/srcprog75_14894095_2.err new file mode 100644 index 0000000000000000000000000000000000000000..65e911d1277f85fd6d0f02c4553bbdca52df3b6e --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog75_14894095_2.err @@ -0,0 +1,13 @@ +Traceback (most recent call last): + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 243, in + raise SystemExit(main()) + ^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/scripts/eval_maniskill_policy_rollout.py", line 207, in main + result = evaluate_maniskill_policy_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 265, in evaluate_maniskill_policy_rollout + task_rows = _evaluate_task_cases( + ^^^^^^^^^^^^^^^^^^^^^ + File "/lustre09/project/6037638/knguy52/vla/dovla_cil/eval/maniskill_policy_rollout.py", line 924, in _evaluate_task_cases + torch.tensor( +ValueError: expected sequence of length 4 at dim 1 (got 3) diff --git a/workspace/outputs/hpc/logs/srcprog75_14894095_2.out b/workspace/outputs/hpc/logs/srcprog75_14894095_2.out new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/srcprog75_14894299_0.err b/workspace/outputs/hpc/logs/srcprog75_14894299_0.err new file mode 100644 index 0000000000000000000000000000000000000000..3f129fbd3dcfa07a4077efe0e72d05460d90c21a --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog75_14894299_0.err @@ -0,0 +1,10 @@ +2026-06-28 23:29:43,090 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:45,177 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:47,276 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:49,406 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:51,522 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:53,672 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:55,779 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:57,952 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:30:00,093 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:30:02,171 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcprog75_14894299_0.out b/workspace/outputs/hpc/logs/srcprog75_14894299_0.out new file mode 100644 index 0000000000000000000000000000000000000000..a13ec0058908005701f688f345513f1bd63a9658 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog75_14894299_0.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.75, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3408695652173913, + "policy_rollout_progress": 0.5503250865371007, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8967457075684291, + "policy_expert_regret": 0.8180906214637925, + "action_mse_to_best": 0.38146691162625085, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.21649484536082475, + "policy_rollout_progress": 0.5684939542996514, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1180276953682458, + "policy_expert_regret": 1.0916122176598029, + "action_mse_to_best": 0.3213485095016274, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.33653846153846156, + "policy_rollout_progress": 0.6141416685512433, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9813555350097326, + "policy_expert_regret": 0.9679326675832272, + "action_mse_to_best": 0.30272217879358393, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.19480519480519481, + "policy_rollout_progress": 0.2996715657933095, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4431278196211856, + "policy_expert_regret": 0.2474593260664154, + "action_mse_to_best": 0.6056761372011977, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6931385895673264, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.6472869423475671, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.3655355303211415, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4577960216938847, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.091841711389898, + "policy_expert_regret": 0.9328610984363941, + "action_mse_to_best": 0.4465560925221353, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 548, + "retrieval_residual_residual_no_op": 22, + "retrieval_residual_residual_wrong_gripper": 5 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcprog75_14894299_1.err b/workspace/outputs/hpc/logs/srcprog75_14894299_1.err new file mode 100644 index 0000000000000000000000000000000000000000..d0c7dea8b974c02e1f9035c76b462c85fa0aa56c --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog75_14894299_1.err @@ -0,0 +1,10 @@ +2026-06-28 23:29:48,481 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:50,479 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:52,575 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:54,617 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:56,710 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:29:58,837 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:30:00,983 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:30:03,108 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:30:05,148 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:30:07,259 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcprog75_14894299_1.out b/workspace/outputs/hpc/logs/srcprog75_14894299_1.out new file mode 100644 index 0000000000000000000000000000000000000000..286269dc13b3d80b5b0e980d7b6029889916a8bd --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog75_14894299_1.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.75, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3373913043478261, + "policy_rollout_progress": 0.5630873152322096, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9093703020558409, + "policy_expert_regret": 0.8231672892006843, + "action_mse_to_best": 0.39159267366094436, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.28804347826086957, + "policy_rollout_progress": 0.5720431737136096, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0786174625947909, + "policy_expert_regret": 1.0785934581198608, + "action_mse_to_best": 0.3196368621378813, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.15789473684210525, + "policy_rollout_progress": 0.267774909685709, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5711443412950948, + "policy_expert_regret": 0.30137280516914633, + "action_mse_to_best": 0.5923466136384952, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8182310982867405, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.3799670999114578, + "policy_expert_regret": 0.32969123205623113, + "action_mse_to_best": 0.3562793269887701, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.39045377861667463, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3001515485428192, + "policy_expert_regret": 1.1404897013863364, + "action_mse_to_best": 0.49448049232199953, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 554, + "retrieval_residual_residual_no_op": 17, + "retrieval_residual_residual_wrong_gripper": 4 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcprog75_14894299_2.err b/workspace/outputs/hpc/logs/srcprog75_14894299_2.err new file mode 100644 index 0000000000000000000000000000000000000000..6dd2084a39838f1fec669430e2ca70f3983228b5 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog75_14894299_2.err @@ -0,0 +1,12 @@ +2026-06-28 23:34:24,518 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:26,700 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:28,908 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:30,990 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:33,208 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:35,426 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:37,520 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:39,652 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:41,863 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:43,999 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:46,097 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-28 23:34:48,217 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcprog75_14894299_2.out b/workspace/outputs/hpc/logs/srcprog75_14894299_2.out new file mode 100644 index 0000000000000000000000000000000000000000..7f9a417b1fb2fc413f61a2c13233dd75e97819e1 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcprog75_14894299_2.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.75, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": { + "residual_no_op": 0.03 + }, + "policy_rollout_success_rate": 0.3634782608695652, + "policy_rollout_progress": 0.5796768836536712, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8690457482646762, + "policy_expert_regret": 0.7801912565637316, + "action_mse_to_best": 0.4161392030986431, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35425197959314875, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3282828282828283, + "policy_rollout_progress": 0.6313793707751867, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 1.0022938035880073, + "policy_expert_regret": 0.9952103530592991, + "action_mse_to_best": 0.33554894170451044, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2222222222222222, + "policy_rollout_progress": 0.32914862503746717, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5213009609599288, + "policy_expert_regret": 0.2934213503643251, + "action_mse_to_best": 0.6281036742859416, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7722772277227723, + "policy_rollout_progress": 0.791532487414851, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.43619028486237665, + "policy_expert_regret": 0.38128803345826595, + "action_mse_to_best": 0.3823454522407881, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.15555555555555556, + "policy_rollout_progress": 0.40762402680185106, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.31883534938097, + "policy_expert_regret": 1.1695839388502969, + "action_mse_to_best": 0.4854104435692231, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 558, + "retrieval_residual_residual_wrong_gripper": 9, + "retrieval_residual_residual_no_op": 8 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcscore015_14897123_0.err b/workspace/outputs/hpc/logs/srcscore015_14897123_0.err new file mode 100644 index 0000000000000000000000000000000000000000..023c6842ef99c577e151c8ec05f3197443471d81 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore015_14897123_0.err @@ -0,0 +1,10 @@ +2026-06-29 01:41:23,037 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:25,004 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:27,019 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:29,107 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:31,134 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:33,213 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:35,267 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:37,374 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:39,398 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:41,441 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcscore015_14897123_0.out b/workspace/outputs/hpc/logs/srcscore015_14897123_0.out new file mode 100644 index 0000000000000000000000000000000000000000..0728f71f98e2d31e99779a440f150b18b40b1ba8 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore015_14897123_0.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.015, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5509786044636175, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8908747983375646, + "policy_expert_regret": 0.8145796044146562, + "action_mse_to_best": 0.3816270524878865, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.6160653938467686, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.974624117406515, + "policy_expert_regret": 0.9612012499800096, + "action_mse_to_best": 0.30265718372538686, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096777588649133, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201346135625688, + "policy_expert_regret": 0.246578575468731, + "action_mse_to_best": 0.6002476956550177, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932619321853557, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.647163599729538, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36465501579198434, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4467407528198127, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.10289698026397, + "policy_expert_regret": 0.9403071221378114, + "action_mse_to_best": 0.45429835988754275, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 548, + "retrieval_residual_residual_no_op": 20, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcscore015_14897123_1.err b/workspace/outputs/hpc/logs/srcscore015_14897123_1.err new file mode 100644 index 0000000000000000000000000000000000000000..87e8773e5441f4d72fdfa9ec3eeb37416a729968 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore015_14897123_1.err @@ -0,0 +1,10 @@ +2026-06-29 01:41:44,512 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:46,442 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:48,474 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:50,479 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:52,459 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:54,554 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:56,598 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:41:58,629 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:42:00,704 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:42:02,733 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcscore015_14897123_1.out b/workspace/outputs/hpc/logs/srcscore015_14897123_1.out new file mode 100644 index 0000000000000000000000000000000000000000..ca7faf36af62b88380414e7f4a6634f09fb9e26f --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore015_14897123_1.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.015, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3426086956521739, + "policy_rollout_progress": 0.5665316749817652, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9007085510019375, + "policy_expert_regret": 0.8206265665882307, + "action_mse_to_best": 0.38801324410445015, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.3255710795406351, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5742986448939241, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0709272088057806, + "policy_expert_regret": 1.0709032043308506, + "action_mse_to_best": 0.31969962222501636, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.28913191000097677, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5234715515061429, + "policy_expert_regret": 0.30013844498286124, + "action_mse_to_best": 0.5715771112591028, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8181245796852283, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.38007361851296984, + "policy_expert_regret": 0.32971009934270706, + "action_mse_to_best": 0.35765871029716356, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.38995039070045556, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3006549364590383, + "policy_expert_regret": 1.1409930893025555, + "action_mse_to_best": 0.48739973169106704, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 554, + "retrieval_residual_residual_no_op": 13, + "retrieval_residual_residual_wrong_gripper": 8 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcscore015_14897123_2.err b/workspace/outputs/hpc/logs/srcscore015_14897123_2.err new file mode 100644 index 0000000000000000000000000000000000000000..0ac2152f63ef7fa57740c8d98f76136c722a87bd --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore015_14897123_2.err @@ -0,0 +1,12 @@ +2026-06-29 01:42:55,290 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:42:57,381 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:42:59,552 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:43:01,620 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:43:03,784 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:43:05,914 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:43:08,008 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:43:10,128 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:43:12,231 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:43:14,291 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:43:16,359 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:43:18,486 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcscore015_14897123_2.out b/workspace/outputs/hpc/logs/srcscore015_14897123_2.out new file mode 100644 index 0000000000000000000000000000000000000000..0418366548c6d14c617139f6ed651dee10d7a295 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore015_14897123_2.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.015, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.36869565217391304, + "policy_rollout_progress": 0.5829172111194645, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8605880294945351, + "policy_expert_regret": 0.7736474483017461, + "action_mse_to_best": 0.41659071089213956, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35488338287783944, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6358304502762328, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9877417139859512, + "policy_expert_regret": 0.9806582634572429, + "action_mse_to_best": 0.33545475296977195, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.31892168570862445, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5426390113998827, + "policy_expert_regret": 0.3140720418619821, + "action_mse_to_best": 0.6283310380246904, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8008749307972369, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.41694685138098087, + "policy_expert_regret": 0.3620445999768701, + "action_mse_to_best": 0.3851195577495169, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.16666666666666666, + "policy_rollout_progress": 0.4182763857973946, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.2970718792743152, + "policy_expert_regret": 1.1607355892658233, + "action_mse_to_best": 0.4844882684863276, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 552, + "retrieval_residual_residual_wrong_gripper": 12, + "retrieval_residual_residual_no_op": 11 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcscore020_14897124_0.err b/workspace/outputs/hpc/logs/srcscore020_14897124_0.err new file mode 100644 index 0000000000000000000000000000000000000000..68319081a6b6cd5fc6d9d81ef306fb1675bc0e13 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore020_14897124_0.err @@ -0,0 +1,10 @@ +2026-06-29 01:46:17,383 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:19,389 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:21,487 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:23,539 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:25,649 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:27,696 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:29,806 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:31,860 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:33,912 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:35,952 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcscore020_14897124_0.out b/workspace/outputs/hpc/logs/srcscore020_14897124_0.out new file mode 100644 index 0000000000000000000000000000000000000000..6d5f01a264cec7d67e7ae3b8feb89034f38dbe45 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore020_14897124_0.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.34608695652173915, + "policy_rollout_progress": 0.5509739407888897, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8908794620122923, + "policy_expert_regret": 0.8145842680893839, + "action_mse_to_best": 0.3816288484017486, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.34134615384615385, + "policy_rollout_progress": 0.616052501476728, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9746370097765555, + "policy_expert_regret": 0.9612141423500501, + "action_mse_to_best": 0.30266214839111155, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096777588649133, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201346135625688, + "policy_expert_regret": 0.246578575468731, + "action_mse_to_best": 0.6002476956550177, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932619321853557, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.647163599729538, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36465501579198434, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4467407528198127, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.10289698026397, + "policy_expert_regret": 0.9403071221378114, + "action_mse_to_best": 0.45429835988754275, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 547, + "retrieval_residual_residual_no_op": 21, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcscore020_14897124_1.err b/workspace/outputs/hpc/logs/srcscore020_14897124_1.err new file mode 100644 index 0000000000000000000000000000000000000000..198f906996ee5f3c779b9a215e2101eb7bc997b6 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore020_14897124_1.err @@ -0,0 +1,10 @@ +2026-06-29 01:46:38,031 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:39,963 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:42,025 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:44,033 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:46,051 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:48,183 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:50,221 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:52,275 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:54,298 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:46:56,337 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcscore020_14897124_1.out b/workspace/outputs/hpc/logs/srcscore020_14897124_1.out new file mode 100644 index 0000000000000000000000000000000000000000..09b43dc80b18d6c6cb23addb23d15e2014d44256 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore020_14897124_1.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3426086956521739, + "policy_rollout_progress": 0.5665376163727563, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9007026096109463, + "policy_expert_regret": 0.8206206251972396, + "action_mse_to_best": 0.38808534023716396, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.32591217734018524, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5743172117407717, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.070908641958933, + "policy_expert_regret": 1.070884637484003, + "action_mse_to_best": 0.3197154440998059, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.28913191000097677, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5234715515061429, + "policy_expert_regret": 0.30013844498286124, + "action_mse_to_best": 0.5715771112591028, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8181245796852283, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.38007361851296984, + "policy_expert_regret": 0.32971009934270706, + "action_mse_to_best": 0.35765871029716356, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.38995039070045556, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3006549364590383, + "policy_expert_regret": 1.1409930893025555, + "action_mse_to_best": 0.48739973169106704, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 551, + "retrieval_residual_residual_wrong_gripper": 9, + "retrieval_residual_residual_no_op": 15 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcscore020_14897124_2.err b/workspace/outputs/hpc/logs/srcscore020_14897124_2.err new file mode 100644 index 0000000000000000000000000000000000000000..62845c42dc3c8f494cfcb3b7088167324d002d15 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore020_14897124_2.err @@ -0,0 +1,12 @@ +2026-06-29 01:48:42,720 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:48:44,854 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:48:47,010 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:48:49,168 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:48:51,357 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:48:53,525 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:48:55,704 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:48:57,860 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:49:00,021 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:49:02,151 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:49:04,275 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:49:06,506 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcscore020_14897124_2.out b/workspace/outputs/hpc/logs/srcscore020_14897124_2.out new file mode 100644 index 0000000000000000000000000000000000000000..53fa3487e19e33a62c995e694bee59a11ce4e34b --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore020_14897124_2.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.02, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.36869565217391304, + "policy_rollout_progress": 0.5829172111194645, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8605880294945351, + "policy_expert_regret": 0.7736474483017461, + "action_mse_to_best": 0.41659071089213956, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35488338287783944, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6358304502762328, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9877417139859512, + "policy_expert_regret": 0.9806582634572429, + "action_mse_to_best": 0.33545475296977195, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.31892168570862445, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5426390113998827, + "policy_expert_regret": 0.3140720418619821, + "action_mse_to_best": 0.6283310380246904, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8008749307972369, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.41694685138098087, + "policy_expert_regret": 0.3620445999768701, + "action_mse_to_best": 0.3851195577495169, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.16666666666666666, + "policy_rollout_progress": 0.4182763857973946, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.2970718792743152, + "policy_expert_regret": 1.1607355892658233, + "action_mse_to_best": 0.4844882684863276, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 552, + "retrieval_residual_residual_wrong_gripper": 12, + "retrieval_residual_residual_no_op": 11 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcscore025_14897125_0.err b/workspace/outputs/hpc/logs/srcscore025_14897125_0.err new file mode 100644 index 0000000000000000000000000000000000000000..d6d6392b32c288e8aeeb7bab58f19ccf5bbef795 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore025_14897125_0.err @@ -0,0 +1,10 @@ +2026-06-29 01:51:27,072 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:29,092 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:31,230 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:33,339 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:35,482 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:37,597 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:39,752 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:41,876 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:43,964 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:46,036 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcscore025_14897125_0.out b/workspace/outputs/hpc/logs/srcscore025_14897125_0.out new file mode 100644 index 0000000000000000000000000000000000000000..320ce6277d00545a0c0dd6fd24d4b8da55f8f016 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore025_14897125_0.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_0/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 0, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.025, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3443478260869565, + "policy_rollout_progress": 0.5502321733202299, + "oracle_success_rate": 0.8573913043478261, + "expert_success_rate": 0.7721739130434783, + "policy_oracle_regret": 0.8933603599157346, + "policy_expert_regret": 0.8170651659928262, + "action_mse_to_best": 0.38164905525743964, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 97, + "policy_rollout_success_rate": 0.2268041237113402, + "policy_rollout_progress": 0.5714634232914325, + "oracle_success_rate": 0.9278350515463918, + "expert_success_rate": 0.8865979381443299, + "policy_oracle_regret": 1.1047489480259491, + "policy_expert_regret": 1.0783334703175063, + "action_mse_to_best": 0.31969772460726426, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 208, + "policy_rollout_success_rate": 0.33653846153846156, + "policy_rollout_progress": 0.6140019423686541, + "oracle_success_rate": 0.9471153846153846, + "expert_success_rate": 0.9375, + "policy_oracle_regret": 0.9814952611923218, + "policy_expert_regret": 0.9680723937658163, + "action_mse_to_best": 0.30271800868929577, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 77, + "policy_rollout_success_rate": 0.2077922077922078, + "policy_rollout_progress": 0.3096777588649133, + "oracle_success_rate": 0.36363636363636365, + "expert_success_rate": 0.19480519480519481, + "policy_oracle_regret": 0.4201346135625688, + "policy_expert_regret": 0.246578575468731, + "action_mse_to_best": 0.6002476956550177, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "num_groups": 94, + "policy_rollout_success_rate": 0.6595744680851063, + "policy_rollout_progress": 0.6932619321853557, + "oracle_success_rate": 0.9893617021276596, + "expert_success_rate": 0.8617021276595744, + "policy_oracle_regret": 0.647163599729538, + "policy_expert_regret": 0.5508309629686335, + "action_mse_to_best": 0.36465501579198434, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 99, + "policy_rollout_success_rate": 0.2828282828282828, + "policy_rollout_progress": 0.4467407528198127, + "oracle_success_rate": 0.8585858585858586, + "expert_success_rate": 0.6767676767676768, + "policy_oracle_regret": 1.10289698026397, + "policy_expert_regret": 0.9403071221378114, + "action_mse_to_best": 0.45429835988754275, + "restore_max_error": 2.384185791015625e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 543, + "retrieval_residual_residual_no_op": 25, + "retrieval_residual_residual_wrong_gripper": 7 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcscore025_14897125_1.err b/workspace/outputs/hpc/logs/srcscore025_14897125_1.err new file mode 100644 index 0000000000000000000000000000000000000000..4b4c35929d894dcafe236eed5626c8641ed13c0a --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore025_14897125_1.err @@ -0,0 +1,10 @@ +2026-06-29 01:51:09,302 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:11,282 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:13,303 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:15,323 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:17,307 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:19,407 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:21,480 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:23,487 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:25,524 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:27,572 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcscore025_14897125_1.out b/workspace/outputs/hpc/logs/srcscore025_14897125_1.out new file mode 100644 index 0000000000000000000000000000000000000000..cf944639a24ebc259b6d36dfc35238c9a316b2f2 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore025_14897125_1.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_1/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 1, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.025, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.3426086956521739, + "policy_rollout_progress": 0.5665369803134513, + "oracle_success_rate": 0.8695652173913043, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.9007032456702512, + "policy_expert_regret": 0.8206212612565444, + "action_mse_to_best": 0.38807988138464483, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 113, + "policy_rollout_success_rate": 0.23008849557522124, + "policy_rollout_progress": 0.6355170211960784, + "oracle_success_rate": 0.9380530973451328, + "expert_success_rate": 0.8584070796460177, + "policy_oracle_regret": 1.0665947045900126, + "policy_expert_regret": 0.9873926745051831, + "action_mse_to_best": 0.32591217734018524, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "num_groups": 184, + "policy_rollout_success_rate": 0.29347826086956524, + "policy_rollout_progress": 0.5743152240554438, + "oracle_success_rate": 0.9456521739130435, + "expert_success_rate": 0.9402173913043478, + "policy_oracle_regret": 1.0709106296442612, + "policy_expert_regret": 1.070886625169331, + "action_mse_to_best": 0.31969838518568355, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 76, + "policy_rollout_success_rate": 0.18421052631578946, + "policy_rollout_progress": 0.28913191000097677, + "oracle_success_rate": 0.40789473684210525, + "expert_success_rate": 0.25, + "policy_oracle_regret": 0.5234715515061429, + "policy_expert_regret": 0.30013844498286124, + "action_mse_to_best": 0.5715771112591028, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 111, + "policy_rollout_success_rate": 0.8018018018018018, + "policy_rollout_progress": 0.8181245796852283, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8198198198198198, + "policy_oracle_regret": 0.38007361851296984, + "policy_expert_regret": 0.32971009934270706, + "action_mse_to_best": 0.35765871029716356, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "num_groups": 91, + "policy_rollout_success_rate": 0.15384615384615385, + "policy_rollout_progress": 0.38995039070045556, + "oracle_success_rate": 0.8571428571428571, + "expert_success_rate": 0.6923076923076923, + "policy_oracle_regret": 1.3006549364590383, + "policy_expert_regret": 1.1409930893025555, + "action_mse_to_best": 0.48739973169106704, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 550, + "retrieval_residual_residual_wrong_gripper": 9, + "retrieval_residual_residual_no_op": 16 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/srcscore025_14897125_2.err b/workspace/outputs/hpc/logs/srcscore025_14897125_2.err new file mode 100644 index 0000000000000000000000000000000000000000..547ee1e5072543dc139f8df36c9d44781a481ef9 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore025_14897125_2.err @@ -0,0 +1,12 @@ +2026-06-29 01:51:24,233 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:26,228 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:28,288 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:30,329 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:32,427 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:34,540 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:36,561 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:38,716 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:40,773 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:42,828 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:44,872 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-06-29 01:51:46,962 - mani_skill - WARNING - No initial pose set for actor builder of goal_region, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. diff --git a/workspace/outputs/hpc/logs/srcscore025_14897125_2.out b/workspace/outputs/hpc/logs/srcscore025_14897125_2.out new file mode 100644 index 0000000000000000000000000000000000000000..070b232d5c3597dc1f484939c6f4fd29f29c67b7 --- /dev/null +++ b/workspace/outputs/hpc/logs/srcscore025_14897125_2.out @@ -0,0 +1,110 @@ +{ + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/near_miss_policy_bc5/seed_2/best.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "split": "validation_groups", + "objective": "lattice_field", + "seed": 2, + "observation_mode": "state", + "backbone_type": "native", + "backbone_model": null, + "num_groups": 575, + "group_batch_size": 8, + "selection_mode": "retrieval_residual", + "num_candidates": 6, + "candidate_sigma": 0.0, + "selection_margin": 0.2, + "prepend_policy_candidate": false, + "field_optim_steps": 0, + "field_optim_step_size": 0.0, + "field_optim_trust_radius": 0.0, + "field_optim_l2_penalty": 0.0, + "retrieval_neighbors": 4, + "retrieval_metric": "raw", + "retrieval_type_min_success": 0.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_scale": 0.025, + "retrieval_residual_scale": 0.4, + "retrieval_residual_scales": [], + "retrieval_residual_anchor": "expert", + "retrieval_residual_reduce": "mean_by_type", + "lattice_exclude_types": [ + "residual_near_miss", + "residual_random_negative", + "residual_wrong_direction" + ], + "candidate_type_bonuses": {}, + "policy_rollout_success_rate": 0.36869565217391304, + "policy_rollout_progress": 0.5828851233995058, + "oracle_success_rate": 0.8765217391304347, + "expert_success_rate": 0.7704347826086957, + "policy_oracle_regret": 0.8606201172144938, + "policy_expert_regret": 0.7736795360217049, + "action_mse_to_best": 0.41659943506850494, + "restore_max_error": 2.384185791015625e-07, + "per_task": { + "LiftPegUpright-v1": { + "num_groups": 96, + "policy_rollout_success_rate": 0.3333333333333333, + "policy_rollout_progress": 0.6463205499264101, + "oracle_success_rate": 0.9270833333333334, + "expert_success_rate": 0.8229166666666666, + "policy_oracle_regret": 0.9539546399998168, + "policy_expert_regret": 0.8476849501021206, + "action_mse_to_best": 0.35488338287783944, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "num_groups": 198, + "policy_rollout_success_rate": 0.3383838383838384, + "policy_rollout_progress": 0.6357372662409989, + "oracle_success_rate": 0.9595959595959596, + "expert_success_rate": 0.9444444444444444, + "policy_oracle_regret": 0.9878348980211851, + "policy_expert_regret": 0.9807514474924767, + "action_mse_to_best": 0.335480088330429, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.2111111111111111, + "policy_rollout_progress": 0.31892168570862445, + "oracle_success_rate": 0.4666666666666667, + "expert_success_rate": 0.24444444444444444, + "policy_oracle_regret": 0.5426390113998827, + "policy_expert_regret": 0.3140720418619821, + "action_mse_to_best": 0.6283310380246904, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "num_groups": 101, + "policy_rollout_success_rate": 0.7821782178217822, + "policy_rollout_progress": 0.8008749307972369, + "oracle_success_rate": 1.0, + "expert_success_rate": 0.8514851485148515, + "policy_oracle_regret": 0.41694685138098087, + "policy_expert_regret": 0.3620445999768701, + "action_mse_to_best": 0.3851195577495169, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "num_groups": 90, + "policy_rollout_success_rate": 0.16666666666666666, + "policy_rollout_progress": 0.4182763857973946, + "oracle_success_rate": 0.9111111111111111, + "expert_success_rate": 0.7666666666666667, + "policy_oracle_regret": 1.2970718792743152, + "policy_expert_regret": 1.1607355892658233, + "action_mse_to_best": 0.4844882684863276, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 551, + "retrieval_residual_residual_wrong_gripper": 12, + "retrieval_residual_residual_no_op": 12 + }, + "selected_residual_scale_counts": { + "0.4": 575 + } +} diff --git a/workspace/outputs/hpc/logs/sum_compbonus_14912562.err b/workspace/outputs/hpc/logs/sum_compbonus_14912562.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_compbonus_14912562.out b/workspace/outputs/hpc/logs/sum_compbonus_14912562.out new file mode 100644 index 0000000000000000000000000000000000000000..f66689cd7cdebd374d96476c91882bc0aa0e8a4a --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_compbonus_14912562.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_k4_composemasked_compbonus_grid035040045_safe_margin0p20_noopbonus0p03.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3536231884057971, + "std_success": 0.011579701075616344, + "mean_progress": 0.5698253496913558, + "mean_action_mse_to_best": 0.4128576582829481, + "gain_vs_h4": 0.056923188405797076, + "gain_vs_h16_rank_checkpoint": 0.05623188405797103 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_compbonus_grid035040045_safe_margin0p20_noopbonus0p03_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_compbonus_grid035040045_safe_margin0p20_noopbonus0p03_summary.md diff --git a/workspace/outputs/hpc/logs/sum_compmask_14911982.err b/workspace/outputs/hpc/logs/sum_compmask_14911982.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_compmask_14911982.out b/workspace/outputs/hpc/logs/sum_compmask_14911982.out new file mode 100644 index 0000000000000000000000000000000000000000..6222649f0ee8e928d586ee46d1a0c1e7925a9e6b --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_compmask_14911982.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_k4_composemasked_grid035040045_safe_margin0p20.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.35304347826086957, + "std_success": 0.012173913043478276, + "mean_progress": 0.5690829302439838, + "mean_action_mse_to_best": 0.4104903701765706, + "gain_vs_h4": 0.05634347826086955, + "gain_vs_h16_rank_checkpoint": 0.0556521739130435 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_grid035040045_safe_margin0p20_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_grid035040045_safe_margin0p20_summary.md diff --git a/workspace/outputs/hpc/logs/sum_compmask_noop_14911983.err b/workspace/outputs/hpc/logs/sum_compmask_noop_14911983.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_compmask_noop_14911983.out b/workspace/outputs/hpc/logs/sum_compmask_noop_14911983.out new file mode 100644 index 0000000000000000000000000000000000000000..2715a9efab6ab1e852ecc8c50d345b28052a7337 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_compmask_noop_14911983.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_k4_composemasked_grid035040045_safe_margin0p20_noopbonus0p03.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3553623188405797, + "std_success": 0.010190374394925787, + "mean_progress": 0.570213930835129, + "mean_action_mse_to_best": 0.41063271115952427, + "gain_vs_h4": 0.05866231884057971, + "gain_vs_h16_rank_checkpoint": 0.05797101449275366 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_grid035040045_safe_margin0p20_noopbonus0p03_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_composemasked_grid035040045_safe_margin0p20_noopbonus0p03_summary.md diff --git a/workspace/outputs/hpc/logs/sum_gridmean_nb_14897990.err b/workspace/outputs/hpc/logs/sum_gridmean_nb_14897990.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_gridmean_nb_14897990.out b/workspace/outputs/hpc/logs/sum_gridmean_nb_14897990.out new file mode 100644 index 0000000000000000000000000000000000000000..042d0ce94b6585417658a2512ed3f5593066f0f9 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_gridmean_nb_14897990.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_k4_grid035040045_safe_margin0p20_mean_by_type_noopbonus0p03.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3542028985507247, + "std_success": 0.011181044360571544, + "mean_progress": 0.5687245771325768, + "mean_action_mse_to_best": 0.3972891251103062, + "gain_vs_h4": 0.05750289855072466, + "gain_vs_h16_rank_checkpoint": 0.05681159420289861 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_grid035040045_safe_margin0p20_mean_by_type_noopbonus0p03_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_grid035040045_safe_margin0p20_mean_by_type_noopbonus0p03_summary.md diff --git a/workspace/outputs/hpc/logs/sum_gridmean_sc_14897991.err b/workspace/outputs/hpc/logs/sum_gridmean_sc_14897991.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_gridmean_sc_14897991.out b/workspace/outputs/hpc/logs/sum_gridmean_sc_14897991.out new file mode 100644 index 0000000000000000000000000000000000000000..65bea7d9cf036b90c0865701edef7b08c02ddc3e --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_gridmean_sc_14897991.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_k4_grid035040045_safe_margin0p20_mean_by_type_srcscorebonus0p02.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.35304347826086957, + "std_success": 0.01204904909613132, + "mean_progress": 0.5676495564117996, + "mean_action_mse_to_best": 0.39729336139975463, + "gain_vs_h4": 0.05634347826086955, + "gain_vs_h16_rank_checkpoint": 0.0556521739130435 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_grid035040045_safe_margin0p20_mean_by_type_srcscorebonus0p02_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_grid035040045_safe_margin0p20_mean_by_type_srcscorebonus0p02_summary.md diff --git a/workspace/outputs/hpc/logs/sum_gup_nb_14898110.err b/workspace/outputs/hpc/logs/sum_gup_nb_14898110.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_gup_nb_14898110.out b/workspace/outputs/hpc/logs/sum_gup_nb_14898110.out new file mode 100644 index 0000000000000000000000000000000000000000..94ef58176536849fb98eca6d1e6e00dda79e8010 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_gup_nb_14898110.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_k4_grid040045050_safe_margin0p20_mean_by_type_noopbonus0p03.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3536231884057971, + "std_success": 0.010190374394925756, + "mean_progress": 0.5691949463564601, + "mean_action_mse_to_best": 0.3983363078623686, + "gain_vs_h4": 0.056923188405797076, + "gain_vs_h16_rank_checkpoint": 0.05623188405797103 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_grid040045050_safe_margin0p20_mean_by_type_noopbonus0p03_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_grid040045050_safe_margin0p20_mean_by_type_noopbonus0p03_summary.md diff --git a/workspace/outputs/hpc/logs/sum_gup_sc_14898111.err b/workspace/outputs/hpc/logs/sum_gup_sc_14898111.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_gup_sc_14898111.out b/workspace/outputs/hpc/logs/sum_gup_sc_14898111.out new file mode 100644 index 0000000000000000000000000000000000000000..da1609b95b7c9074c586d36362492a13fad78ea8 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_gup_sc_14898111.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_k4_grid040045050_safe_margin0p20_mean_by_type_srcscorebonus0p02.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.35304347826086957, + "std_success": 0.0105787174439969, + "mean_progress": 0.5689121059149256, + "mean_action_mse_to_best": 0.398193252855183, + "gain_vs_h4": 0.05634347826086955, + "gain_vs_h16_rank_checkpoint": 0.0556521739130435 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_grid040045050_safe_margin0p20_mean_by_type_srcscorebonus0p02_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_grid040045050_safe_margin0p20_mean_by_type_srcscorebonus0p02_summary.md diff --git a/workspace/outputs/hpc/logs/sum_gwide_nb_14898112.err b/workspace/outputs/hpc/logs/sum_gwide_nb_14898112.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_gwide_nb_14898112.out b/workspace/outputs/hpc/logs/sum_gwide_nb_14898112.out new file mode 100644 index 0000000000000000000000000000000000000000..17172bc3aadaf7d40a73feb4b1974ee52435800f --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_gwide_nb_14898112.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_k4_grid035045055_safe_margin0p20_mean_by_type_noopbonus0p03.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.35130434782608694, + "std_success": 0.009202613255876844, + "mean_progress": 0.5679968697053118, + "mean_action_mse_to_best": 0.40172422174391326, + "gain_vs_h4": 0.05460434782608692, + "gain_vs_h16_rank_checkpoint": 0.05391304347826087 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_grid035045055_safe_margin0p20_mean_by_type_noopbonus0p03_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_k4_grid035045055_safe_margin0p20_mean_by_type_noopbonus0p03_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14827326.err b/workspace/outputs/hpc/logs/sum_h16_field_14827326.err new file mode 100644 index 0000000000000000000000000000000000000000..ee7446c75ac3b4231a40779e7faae14576c76bcf --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_field_14827326.err @@ -0,0 +1,4 @@ +Traceback (most recent call last): + File "", line 7, in + File "", line 679, in __getitem__ +KeyError: 'RUN_ROOT' diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14827326.out b/workspace/outputs/hpc/logs/sum_h16_field_14827326.out new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14827529.err b/workspace/outputs/hpc/logs/sum_h16_field_14827529.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14827529.out b/workspace/outputs/hpc/logs/sum_h16_field_14827529.out new file mode 100644 index 0000000000000000000000000000000000000000..9100060e9b511756f411ccac3da97a34888fffe2 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_field_14827529.out @@ -0,0 +1,20 @@ +{ + "best": { + "config": "k32_sigma0.35", + "completed_seeds": [ + 0, + 1, + 2 + ], + "num_completed": 3, + "mean_success": 0.2910144927536232, + "std_success": 0.01305313652080894, + "mean_progress": 0.5343561867265489, + "mean_action_mse_to_best": 0.41566191710828654, + "absolute_gain_vs_h4_baseline": -0.005685507246376842, + "absolute_gain_vs_h16_policy": -0.006376811594202891 + }, + "num_result_files": 12 +} +Wrote results/h16_field_sweep_summary.json +Wrote results/h16_field_sweep_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14837137.err b/workspace/outputs/hpc/logs/sum_h16_field_14837137.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14837137.out b/workspace/outputs/hpc/logs/sum_h16_field_14837137.out new file mode 100644 index 0000000000000000000000000000000000000000..3ad69c7735cb7563397c44c7e4b3f4b2881e1198 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_field_14837137.out @@ -0,0 +1,20 @@ +{ + "best": { + "config": "k64_sigma0.50", + "completed_seeds": [ + 0, + 1, + 2 + ], + "num_completed": 3, + "mean_success": 0.3292753623188406, + "std_success": 0.01233843284277841, + "mean_progress": 0.5483272921758826, + "mean_action_mse_to_best": 0.4194377801362155, + "absolute_gain_vs_h4_baseline": 0.03257536231884056, + "absolute_gain_vs_h16_policy": 0.03188405797101451 + }, + "num_result_files": 15 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_field_sweep_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_field_sweep_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14842551.err b/workspace/outputs/hpc/logs/sum_h16_field_14842551.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14842551.out b/workspace/outputs/hpc/logs/sum_h16_field_14842551.out new file mode 100644 index 0000000000000000000000000000000000000000..257b3df5d82a314b58407f3f576581904632aeca --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_field_14842551.out @@ -0,0 +1,18 @@ +{ + "best": { + "config": "k32_sigma0.50", + "completed_seeds": [ + 0 + ], + "num_completed": 1, + "mean_success": 0.2539130434782609, + "std_success": 0.0, + "mean_progress": 0.5365319993136369, + "mean_action_mse_to_best": 0.3908262099843958, + "absolute_gain_vs_h4_baseline": -0.04278695652173914, + "absolute_gain_vs_h16_policy": -0.04347826086956519 + }, + "num_result_files": 9 +} +Wrote results/h16_field_optim_near_miss_policy_bc5_bestpt_s4_trust05_afterany_summary.json +Wrote results/h16_field_optim_near_miss_policy_bc5_bestpt_s4_trust05_afterany_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14842617.err b/workspace/outputs/hpc/logs/sum_h16_field_14842617.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14842617.out b/workspace/outputs/hpc/logs/sum_h16_field_14842617.out new file mode 100644 index 0000000000000000000000000000000000000000..b60e622fd7f27e8ec000223e2da7615ebc74136b --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_field_14842617.out @@ -0,0 +1,20 @@ +{ + "best": { + "config": "k64_sigma0.50", + "completed_seeds": [ + 0, + 1, + 2 + ], + "num_completed": 3, + "mean_success": 0.26492753623188403, + "std_success": 0.021252524962114057, + "mean_progress": 0.5022954986964527, + "mean_action_mse_to_best": 0.48412693971201126, + "absolute_gain_vs_h4_baseline": -0.03177246376811599, + "absolute_gain_vs_h16_policy": -0.03246376811594204 + }, + "num_result_files": 12 +} +Wrote results/h16_policy_ckpt_nonexpert_policy_bc5_bestpt_field_sweep_summary.json +Wrote results/h16_policy_ckpt_nonexpert_policy_bc5_bestpt_field_sweep_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14858332.err b/workspace/outputs/hpc/logs/sum_h16_field_14858332.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14858332.out b/workspace/outputs/hpc/logs/sum_h16_field_14858332.out new file mode 100644 index 0000000000000000000000000000000000000000..76cbf4b4b2a01d012bfe41595fcc62141120f3df --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_field_14858332.out @@ -0,0 +1,20 @@ +{ + "best": { + "config": "k8_sigma0.10", + "completed_seeds": [ + 0, + 1, + 2 + ], + "num_completed": 3, + "mean_success": 0.27652173913043476, + "std_success": 0.04217167183645961, + "mean_progress": 0.5031051267804444, + "mean_action_mse_to_best": 0.4708352829712997, + "absolute_gain_vs_h4_baseline": -0.020178260869565257, + "absolute_gain_vs_h16_policy": -0.020869565217391306 + }, + "num_result_files": 12 +} +Wrote results/h16_policy_ckpt_field_selected_noexpert_bc5_bestpt_field_sweep_summary.json +Wrote results/h16_policy_ckpt_field_selected_noexpert_bc5_bestpt_field_sweep_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14858454.err b/workspace/outputs/hpc/logs/sum_h16_field_14858454.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_field_14858454.out b/workspace/outputs/hpc/logs/sum_h16_field_14858454.out new file mode 100644 index 0000000000000000000000000000000000000000..d017ed6ebdfc5d03880361b0e2d35332890da24f --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_field_14858454.out @@ -0,0 +1,20 @@ +{ + "best": { + "config": "k16_sigma0.20", + "completed_seeds": [ + 0, + 1, + 2 + ], + "num_completed": 3, + "mean_success": 0.2649275362318841, + "std_success": 0.02436852122548836, + "mean_progress": 0.49198602530857266, + "mean_action_mse_to_best": 0.48361168359986684, + "absolute_gain_vs_h4_baseline": -0.03177246376811593, + "absolute_gain_vs_h16_policy": -0.03246376811594198 + }, + "num_result_files": 12 +} +Wrote results/h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep_summary.json +Wrote results/h16_policy_ckpt_field_selected_noexpert_bc5_allmap_bestpt_field_sweep_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14827505.err b/workspace/outputs/hpc/logs/sum_h16_lattice_14827505.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14827505.out b/workspace/outputs/hpc/logs/sum_h16_lattice_14827505.out new file mode 100644 index 0000000000000000000000000000000000000000..46076b71db7643c659665fff347dacbd8d33cf08 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_lattice_14827505.out @@ -0,0 +1,24 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs", + "out_name": "lattice_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_policy_success": 0.29739130434782607, + "mean_success": 0.6933333333333334, + "std_success": 0.035655708555783816, + "mean_progress": 0.8108624100247803, + "mean_oracle_success": 0.8678260869565217, + "mean_action_mse_to_best": 0.43754452051773696, + "gain_vs_h4": 0.39663333333333334, + "gain_vs_h16_policy": 0.3959420289855073, + "selected_candidate_type_counts": { + "lattice_expert": 977, + "lattice_near_miss": 348, + "lattice_no_op": 177, + "lattice_random_negative": 138, + "lattice_wrong_direction": 30, + "lattice_wrong_gripper": 55 + } +} +Wrote results/h16_lattice_rollout_summary.json +Wrote results/h16_lattice_rollout_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14828517.err b/workspace/outputs/hpc/logs/sum_h16_lattice_14828517.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14828517.out b/workspace/outputs/hpc/logs/sum_h16_lattice_14828517.out new file mode 100644 index 0000000000000000000000000000000000000000..75a53f99d8eedd22509e01cf1f4d03f501e458b3 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_lattice_14828517.out @@ -0,0 +1,23 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs", + "out_name": "lattice_no_expert_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_policy_success": 0.29739130434782607, + "mean_success": 0.5698550724637681, + "std_success": 0.046188021535170105, + "mean_progress": 0.7501174603224449, + "mean_oracle_success": 0.8678260869565217, + "mean_action_mse_to_best": 0.4590102900127523, + "gain_vs_h4": 0.2731550724637681, + "gain_vs_h16_policy": 0.27246376811594203, + "selected_candidate_type_counts": { + "lattice_near_miss": 1263, + "lattice_no_op": 222, + "lattice_random_negative": 144, + "lattice_wrong_direction": 34, + "lattice_wrong_gripper": 62 + } +} +Wrote results/h16_lattice_rollout_summary.json +Wrote results/h16_lattice_rollout_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14829910.err b/workspace/outputs/hpc/logs/sum_h16_lattice_14829910.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14829910.out b/workspace/outputs/hpc/logs/sum_h16_lattice_14829910.out new file mode 100644 index 0000000000000000000000000000000000000000..119489a7c56217cc375834013e0f1d0a183002d5 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_lattice_14829910.out @@ -0,0 +1,24 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs", + "out_name": "lattice_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_policy_success": 0.29739130434782607, + "mean_success": 0.6933333333333334, + "std_success": 0.035655708555783816, + "mean_progress": 0.8108624100247803, + "mean_oracle_success": 0.8678260869565217, + "mean_action_mse_to_best": 0.43754452051773696, + "gain_vs_h4": 0.39663333333333334, + "gain_vs_h16_policy": 0.3959420289855073, + "selected_candidate_type_counts": { + "lattice_expert": 977, + "lattice_near_miss": 348, + "lattice_no_op": 177, + "lattice_random_negative": 138, + "lattice_wrong_direction": 30, + "lattice_wrong_gripper": 55 + } +} +Wrote results/h16_lattice_summary.json +Wrote results/h16_lattice_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14829912.err b/workspace/outputs/hpc/logs/sum_h16_lattice_14829912.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14829912.out b/workspace/outputs/hpc/logs/sum_h16_lattice_14829912.out new file mode 100644 index 0000000000000000000000000000000000000000..7aa1e4bec1832e79b76216f1db4f005ccb27cf44 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_lattice_14829912.out @@ -0,0 +1,23 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs", + "out_name": "lattice_no_expert_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_policy_success": 0.29739130434782607, + "mean_success": 0.5698550724637681, + "std_success": 0.046188021535170105, + "mean_progress": 0.7501174603224449, + "mean_oracle_success": 0.8678260869565217, + "mean_action_mse_to_best": 0.4590102900127523, + "gain_vs_h4": 0.2731550724637681, + "gain_vs_h16_policy": 0.27246376811594203, + "selected_candidate_type_counts": { + "lattice_near_miss": 1263, + "lattice_no_op": 222, + "lattice_random_negative": 144, + "lattice_wrong_direction": 34, + "lattice_wrong_gripper": 62 + } +} +Wrote results/h16_lattice_no_expert_summary.json +Wrote results/h16_lattice_no_expert_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14831034.err b/workspace/outputs/hpc/logs/sum_h16_lattice_14831034.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14831034.out b/workspace/outputs/hpc/logs/sum_h16_lattice_14831034.out new file mode 100644 index 0000000000000000000000000000000000000000..6437a3da3dc1dfb5d64540cce84b082ffb369fe7 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_lattice_14831034.out @@ -0,0 +1,23 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs", + "out_name": "lattice_no_near_miss_no_expert_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_policy_success": 0.29739130434782607, + "mean_success": 0.5698550724637681, + "std_success": 0.046188021535170105, + "mean_progress": 0.7501174603224449, + "mean_oracle_success": 0.8678260869565217, + "mean_action_mse_to_best": 0.4590102900127523, + "gain_vs_h4": 0.2731550724637681, + "gain_vs_h16_policy": 0.27246376811594203, + "selected_candidate_type_counts": { + "lattice_near_miss": 1263, + "lattice_no_op": 222, + "lattice_random_negative": 144, + "lattice_wrong_direction": 34, + "lattice_wrong_gripper": 62 + } +} +Wrote results/h16_lattice_no_near_miss_no_expert_summary.json +Wrote results/h16_lattice_no_near_miss_no_expert_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14831503.err b/workspace/outputs/hpc/logs/sum_h16_lattice_14831503.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14831503.out b/workspace/outputs/hpc/logs/sum_h16_lattice_14831503.out new file mode 100644 index 0000000000000000000000000000000000000000..7b563286c972fa3ac0935a4a08b9df32485fefdc --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_lattice_14831503.out @@ -0,0 +1,24 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs", + "out_name": "retrieval_lattice_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_policy_success": 0.29739130434782607, + "mean_success": 0.28927536231884055, + "std_success": 0.007842173483170244, + "mean_progress": 0.5070036883118725, + "mean_oracle_success": 0.8678260869565217, + "mean_action_mse_to_best": 0.5642791039512857, + "gain_vs_h4": -0.007424637681159474, + "gain_vs_h16_policy": -0.008115942028985523, + "selected_candidate_type_counts": { + "lattice_expert": 970, + "lattice_near_miss": 361, + "lattice_no_op": 172, + "lattice_random_negative": 133, + "lattice_wrong_direction": 25, + "lattice_wrong_gripper": 64 + } +} +Wrote results/h16_retrieval_lattice_summary.json +Wrote results/h16_retrieval_lattice_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14831505.err b/workspace/outputs/hpc/logs/sum_h16_lattice_14831505.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14831505.out b/workspace/outputs/hpc/logs/sum_h16_lattice_14831505.out new file mode 100644 index 0000000000000000000000000000000000000000..fb16f1a1c0ed5210a61be9842e1f95fe4b2cf49c --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_lattice_14831505.out @@ -0,0 +1,23 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs", + "out_name": "retrieval_lattice_no_expert_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_policy_success": 0.29739130434782607, + "mean_success": 0.271304347826087, + "std_success": 0.018157054798105306, + "mean_progress": 0.5005514273950088, + "mean_oracle_success": 0.8678260869565217, + "mean_action_mse_to_best": 0.5836967330339594, + "gain_vs_h4": -0.02539565217391304, + "gain_vs_h16_policy": -0.02608695652173909, + "selected_candidate_type_counts": { + "lattice_near_miss": 1276, + "lattice_no_op": 212, + "lattice_random_negative": 143, + "lattice_wrong_direction": 27, + "lattice_wrong_gripper": 67 + } +} +Wrote results/h16_retrieval_lattice_no_expert_summary.json +Wrote results/h16_retrieval_lattice_no_expert_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14832478.err b/workspace/outputs/hpc/logs/sum_h16_lattice_14832478.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14832478.out b/workspace/outputs/hpc/logs/sum_h16_lattice_14832478.out new file mode 100644 index 0000000000000000000000000000000000000000..8346c8161ea93d48d23bdfd81007845dfc45bc96 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_lattice_14832478.out @@ -0,0 +1,19 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs", + "out_name": "lattice_near_miss_only_v2_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_policy_success": 0.29739130434782607, + "mean_success": 0.5594202898550724, + "std_success": 0.032921207801740716, + "mean_progress": 0.7515200069436927, + "mean_oracle_success": 0.8678260869565217, + "mean_action_mse_to_best": 0.3473810441786781, + "gain_vs_h4": 0.2627202898550724, + "gain_vs_h16_policy": 0.26202898550724635, + "selected_candidate_type_counts": { + "lattice_near_miss": 1725 + } +} +Wrote results/h16_lattice_near_miss_only_v2_summary.json +Wrote results/h16_lattice_near_miss_only_v2_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14832480.err b/workspace/outputs/hpc/logs/sum_h16_lattice_14832480.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_lattice_14832480.out b/workspace/outputs/hpc/logs/sum_h16_lattice_14832480.out new file mode 100644 index 0000000000000000000000000000000000000000..ea0843fe02c5cf686606968775588813b57fdd4e --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_lattice_14832480.out @@ -0,0 +1,22 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_rollout_runs", + "out_name": "lattice_no_near_miss_no_expert_v2_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_policy_success": 0.29739130434782607, + "mean_success": 0.25565217391304346, + "std_success": 0.028629700231572734, + "mean_progress": 0.507481863628803, + "mean_oracle_success": 0.8678260869565217, + "mean_action_mse_to_best": 0.7650326310357322, + "gain_vs_h4": -0.04104782608695656, + "gain_vs_h16_policy": -0.04173913043478261, + "selected_candidate_type_counts": { + "lattice_no_op": 515, + "lattice_random_negative": 314, + "lattice_wrong_direction": 620, + "lattice_wrong_gripper": 276 + } +} +Wrote results/h16_lattice_no_near_miss_no_expert_v2_summary.json +Wrote results/h16_lattice_no_near_miss_no_expert_v2_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14827422.err b/workspace/outputs/hpc/logs/sum_h16_policy_14827422.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14827422.out b/workspace/outputs/hpc/logs/sum_h16_policy_14827422.out new file mode 100644 index 0000000000000000000000000000000000000000..ae783ff0a165bcc57384eae9b89b9cb59f8c6be9 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14827422.out @@ -0,0 +1,15 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "base", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.27014492753623187, + "std_success": 0.035013724917197675, + "mean_progress": 0.5127486971950728, + "mean_action_mse_to_best": 0.41113467054252606, + "gain_vs_h4": -0.026555072463768148, + "gain_vs_h16_rank_checkpoint": -0.027246376811594197 +} +Wrote results/h16_policy_ckpt_summary.json +Wrote results/h16_policy_ckpt_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14834012.err b/workspace/outputs/hpc/logs/sum_h16_policy_14834012.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14834012.out b/workspace/outputs/hpc/logs/sum_h16_policy_14834012.out new file mode 100644 index 0000000000000000000000000000000000000000..8ac7a7c2bb3a746049b53334d241d8a323ba00f7 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14834012.out @@ -0,0 +1,15 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.2747826086956522, + "std_success": 0.03465192842638483, + "mean_progress": 0.5236737595651589, + "mean_action_mse_to_best": 0.3992425732257897, + "gain_vs_h4": -0.021917391304347833, + "gain_vs_h16_rank_checkpoint": -0.022608695652173882 +} +Wrote results/h16_policy_ckpt_summary.json +Wrote results/h16_policy_ckpt_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14836111.err b/workspace/outputs/hpc/logs/sum_h16_policy_14836111.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14836111.out b/workspace/outputs/hpc/logs/sum_h16_policy_14836111.out new file mode 100644 index 0000000000000000000000000000000000000000..6ef555a22fcbda165cb09633be38d9a6bec3d7db --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14836111.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy", + "out_name": "field_rollout_k32_sigma0.35.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.26318840579710145, + "std_success": 0.03835298529164775, + "mean_progress": 0.5128446614962962, + "mean_action_mse_to_best": 0.41493540020605574, + "gain_vs_h4": -0.033511594202898565, + "gain_vs_h16_rank_checkpoint": -0.034202898550724614 +} +Wrote results/h16_policy_ckpt_near_miss_policy_field_k32_sigma0p35_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_field_k32_sigma0p35_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14836193.err b/workspace/outputs/hpc/logs/sum_h16_policy_14836193.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14836193.out b/workspace/outputs/hpc/logs/sum_h16_policy_14836193.out new file mode 100644 index 0000000000000000000000000000000000000000..d9cf65eb269f3473103fa8528d8fa14fa6fef986 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14836193.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.2828985507246377, + "std_success": 0.008032699397420892, + "mean_progress": 0.5199238422948863, + "mean_action_mse_to_best": 0.3943580119071555, + "gain_vs_h4": -0.01380144927536231, + "gain_vs_h16_rank_checkpoint": -0.01449275362318836 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14836240.err b/workspace/outputs/hpc/logs/sum_h16_policy_14836240.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14836240.out b/workspace/outputs/hpc/logs/sum_h16_policy_14836240.out new file mode 100644 index 0000000000000000000000000000000000000000..f733ef87545de4826fb71628324448233f6cfced --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14836240.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy", + "out_name": "field_rollout_fieldckpt_k32_sigma0.35.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.30144927536231886, + "std_success": 0.03522901937214725, + "mean_progress": 0.5318511988799867, + "mean_action_mse_to_best": 0.41041779841066917, + "gain_vs_h4": 0.004749275362318839, + "gain_vs_h16_rank_checkpoint": 0.004057971014492789 +} +Wrote results/h16_policy_ckpt_near_miss_policy_fieldckpt_field_k32_sigma0p35_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_fieldckpt_field_k32_sigma0p35_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14836242.err b/workspace/outputs/hpc/logs/sum_h16_policy_14836242.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14836242.out b/workspace/outputs/hpc/logs/sum_h16_policy_14836242.out new file mode 100644 index 0000000000000000000000000000000000000000..e4fb49d58addab53af89e703730a4fc03d087114 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14836242.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "field_rollout_fieldckpt_k32_sigma0.35.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3263768115942029, + "std_success": 0.023159402151232675, + "mean_progress": 0.5474013805273327, + "mean_action_mse_to_best": 0.41204087933768396, + "gain_vs_h4": 0.02967681159420288, + "gain_vs_h16_rank_checkpoint": 0.02898550724637683 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_fieldckpt_field_k32_sigma0p35_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_fieldckpt_field_k32_sigma0p35_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14842616.err b/workspace/outputs/hpc/logs/sum_h16_policy_14842616.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14842616.out b/workspace/outputs/hpc/logs/sum_h16_policy_14842616.out new file mode 100644 index 0000000000000000000000000000000000000000..48affa09159bf3e6eca9f3a1319fe445acd89dd1 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14842616.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "nonexpert_policy_bc5", + "out_name": "policy_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.2788405797101449, + "std_success": 0.03624463543731149, + "mean_progress": 0.4986166725033705, + "mean_action_mse_to_best": 0.46685135011925644, + "gain_vs_h4": -0.0178594202898551, + "gain_vs_h16_rank_checkpoint": -0.01855072463768115 +} +Wrote results/h16_policy_ckpt_nonexpert_policy_bc5_summary.json +Wrote results/h16_policy_ckpt_nonexpert_policy_bc5_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14842618.err b/workspace/outputs/hpc/logs/sum_h16_policy_14842618.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14842618.out b/workspace/outputs/hpc/logs/sum_h16_policy_14842618.out new file mode 100644 index 0000000000000000000000000000000000000000..91b00ce269a98c64c079c22d8bfd42b0664e1363 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14842618.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "retrieval_residual_rollout.json", + "num_completed": 0, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.0, + "std_success": 0.0, + "mean_progress": 0.0, + "mean_action_mse_to_best": 0.0, + "gain_vs_h4": 0.0, + "gain_vs_h16_rank_checkpoint": 0.0 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14842619.err b/workspace/outputs/hpc/logs/sum_h16_policy_14842619.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14842619.out b/workspace/outputs/hpc/logs/sum_h16_policy_14842619.out new file mode 100644 index 0000000000000000000000000000000000000000..aadd07962d0e7026683ace4696c282626783debb --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14842619.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "retrieval_residual_knn4_rollout.json", + "num_completed": 0, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.0, + "std_success": 0.0, + "mean_progress": 0.0, + "mean_action_mse_to_best": 0.0, + "gain_vs_h4": 0.0, + "gain_vs_h16_rank_checkpoint": 0.0 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14857113.err b/workspace/outputs/hpc/logs/sum_h16_policy_14857113.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14857113.out b/workspace/outputs/hpc/logs/sum_h16_policy_14857113.out new file mode 100644 index 0000000000000000000000000000000000000000..6740351c40d18307e98b2b5c8fd3546f7b040f70 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14857113.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "retrieval_residual_v2_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.32115942028985506, + "std_success": 0.012581179370556922, + "mean_progress": 0.5482713204283484, + "mean_action_mse_to_best": 0.5593383192142769, + "gain_vs_h4": 0.02445942028985504, + "gain_vs_h16_rank_checkpoint": 0.02376811594202899 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_v2_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_v2_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14857116.err b/workspace/outputs/hpc/logs/sum_h16_policy_14857116.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14857116.out b/workspace/outputs/hpc/logs/sum_h16_policy_14857116.out new file mode 100644 index 0000000000000000000000000000000000000000..e21115b7c093ca81c4c43bbebcd02aca73170a70 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14857116.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "retrieval_residual_knn4_v2_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.2991304347826087, + "std_success": 0.02005663059942746, + "mean_progress": 0.5339705883982875, + "mean_action_mse_to_best": 0.6740692569633973, + "gain_vs_h4": 0.0024304347826086814, + "gain_vs_h16_rank_checkpoint": 0.001739130434782632 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_v2_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_v2_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14858330.err b/workspace/outputs/hpc/logs/sum_h16_policy_14858330.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14858330.out b/workspace/outputs/hpc/logs/sum_h16_policy_14858330.out new file mode 100644 index 0000000000000000000000000000000000000000..4702674d197e4e173f07dae1e587dc454d0198ad --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14858330.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "field_selected_noexpert_bc5", + "out_name": "policy_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.2684057971014493, + "std_success": 0.060479078751281036, + "mean_progress": 0.49737596602975453, + "mean_action_mse_to_best": 0.4531931612484049, + "gain_vs_h4": -0.028294202898550724, + "gain_vs_h16_rank_checkpoint": -0.028985507246376774 +} +Wrote results/h16_policy_ckpt_field_selected_noexpert_bc5_summary.json +Wrote results/h16_policy_ckpt_field_selected_noexpert_bc5_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14858452.err b/workspace/outputs/hpc/logs/sum_h16_policy_14858452.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14858452.out b/workspace/outputs/hpc/logs/sum_h16_policy_14858452.out new file mode 100644 index 0000000000000000000000000000000000000000..febd57c3cdfde6c1473409a14b1c0b5c1cb57311 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14858452.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "field_selected_noexpert_bc5_allmap", + "out_name": "policy_rollout.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.27999999999999997, + "std_success": 0.06683783948026308, + "mean_progress": 0.5102699262808628, + "mean_action_mse_to_best": 0.46968574777866406, + "gain_vs_h4": -0.016700000000000048, + "gain_vs_h16_rank_checkpoint": -0.017391304347826098 +} +Wrote results/h16_policy_ckpt_field_selected_noexpert_bc5_allmap_summary.json +Wrote results/h16_policy_ckpt_field_selected_noexpert_bc5_allmap_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14858876.err b/workspace/outputs/hpc/logs/sum_h16_policy_14858876.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14858876.out b/workspace/outputs/hpc/logs/sum_h16_policy_14858876.out new file mode 100644 index 0000000000000000000000000000000000000000..75334debd6c32baf6a944c05be4cff91636793b6 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14858876.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p25.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3292753623188406, + "std_success": 0.015194599909659314, + "mean_progress": 0.5523768832874687, + "mean_action_mse_to_best": 0.40910649155253087, + "gain_vs_h4": 0.03257536231884056, + "gain_vs_h16_rank_checkpoint": 0.03188405797101451 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14858878.err b/workspace/outputs/hpc/logs/sum_h16_policy_14858878.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14858878.out b/workspace/outputs/hpc/logs/sum_h16_policy_14858878.out new file mode 100644 index 0000000000000000000000000000000000000000..b11f6e11a92dfeb3aaf7e304c9eb9495c01b495b --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14858878.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p50.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3333333333333333, + "std_success": 0.00821880978478714, + "mean_progress": 0.5528276873363749, + "mean_action_mse_to_best": 0.4331563813282528, + "gain_vs_h4": 0.036633333333333296, + "gain_vs_h16_rank_checkpoint": 0.035942028985507246 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14858880.err b/workspace/outputs/hpc/logs/sum_h16_policy_14858880.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14858880.out b/workspace/outputs/hpc/logs/sum_h16_policy_14858880.out new file mode 100644 index 0000000000000000000000000000000000000000..a3a46a60acfc7f8e5088ba3f171d6320897337ce --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14858880.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p75.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3269565217391304, + "std_success": 0.015161387629706683, + "mean_progress": 0.5497141635662917, + "mean_action_mse_to_best": 0.5080524536079147, + "gain_vs_h4": 0.030256521739130404, + "gain_vs_h16_rank_checkpoint": 0.029565217391304355 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p75_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p75_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14858882.err b/workspace/outputs/hpc/logs/sum_h16_policy_14858882.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14858882.out b/workspace/outputs/hpc/logs/sum_h16_policy_14858882.out new file mode 100644 index 0000000000000000000000000000000000000000..7a73a88ce30bb83cb352972ffd2587845f875f2d --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14858882.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale1p25.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.32521739130434785, + "std_success": 0.02465642935436144, + "mean_progress": 0.5510169452599898, + "mean_action_mse_to_best": 0.5572565441181803, + "gain_vs_h4": 0.028517391304347828, + "gain_vs_h16_rank_checkpoint": 0.02782608695652178 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale1p25_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale1p25_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859043.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859043.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859043.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859043.out new file mode 100644 index 0000000000000000000000000000000000000000..968c169ea80b3699a488f6886030f14eaafd3b6e --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859043.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_hybrid_k32_sigma0p35.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3130434782608696, + "std_success": 0.013803919883815262, + "mean_progress": 0.5420378264707878, + "mean_action_mse_to_best": 0.5544718223749457, + "gain_vs_h4": 0.01634347826086957, + "gain_vs_h16_rank_checkpoint": 0.01565217391304352 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_hybrid_k32_sigma0p35_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_hybrid_k32_sigma0p35_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859045.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859045.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859045.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859045.out new file mode 100644 index 0000000000000000000000000000000000000000..308d64e08166275d39a9084ed55d057f0001beb6 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859045.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_hybrid_k64_sigma0p50.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3089855072463768, + "std_success": 0.011579701075616322, + "mean_progress": 0.5389061679982174, + "mean_action_mse_to_best": 0.5617759731394387, + "gain_vs_h4": 0.012285507246376781, + "gain_vs_h16_rank_checkpoint": 0.011594202898550732 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_hybrid_k64_sigma0p50_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_hybrid_k64_sigma0p50_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859189.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859189.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859189.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859189.out new file mode 100644 index 0000000000000000000000000000000000000000..689ddc0a4529eb12e4ceb88ff402ea7f0defc558 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859189.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p50_no_random.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.33449275362318837, + "std_success": 0.0070286119727432685, + "mean_progress": 0.554348702210987, + "mean_action_mse_to_best": 0.42247485649002636, + "gain_vs_h4": 0.037792753623188347, + "gain_vs_h16_rank_checkpoint": 0.0371014492753623 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_no_random_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_no_random_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859192.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859192.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859192.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859192.out new file mode 100644 index 0000000000000000000000000000000000000000..9c9ef4f4acd92563059f8d31dc8f9bb0247b42f4 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859192.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p50_no_random_wrongdir.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3356521739130435, + "std_success": 0.007969696860792757, + "mean_progress": 0.5549087099819602, + "mean_action_mse_to_best": 0.4221295004748348, + "gain_vs_h4": 0.03895217391304345, + "gain_vs_h16_rank_checkpoint": 0.038260869565217404 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_no_random_wrongdir_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_no_random_wrongdir_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859194.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859194.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859194.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859194.out new file mode 100644 index 0000000000000000000000000000000000000000..79f6e7aab3dd93cfcaa914302cf7b611f70af04f --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859194.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p25_no_random_wrongdir.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3344927536231884, + "std_success": 0.010626262481057023, + "mean_progress": 0.553899715974576, + "mean_action_mse_to_best": 0.40420369310331516, + "gain_vs_h4": 0.0377927536231884, + "gain_vs_h16_rank_checkpoint": 0.03710144927536235 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_no_random_wrongdir_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_no_random_wrongdir_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859196.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859196.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859196.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859196.out new file mode 100644 index 0000000000000000000000000000000000000000..de3ae26a3573a6cb082e72b049b4c13d5987c7a0 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859196.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p50_safe_types.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3368115942028986, + "std_success": 0.006584241560348136, + "mean_progress": 0.5550795713346451, + "mean_action_mse_to_best": 0.4211789192766815, + "gain_vs_h4": 0.04011159420289856, + "gain_vs_h16_rank_checkpoint": 0.03942028985507251 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_safe_types_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_safe_types_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859198.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859198.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859198.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859198.out new file mode 100644 index 0000000000000000000000000000000000000000..a94af0efa2441953d29677092c96a28c028fd3ff --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859198.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p50_zscore.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.32231884057971016, + "std_success": 0.008924524242516324, + "mean_progress": 0.5453448558840361, + "mean_action_mse_to_best": 0.4389226641635532, + "gain_vs_h4": 0.025618840579710145, + "gain_vs_h16_rank_checkpoint": 0.024927536231884095 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_zscore_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_zscore_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859200.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859200.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859200.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859200.out new file mode 100644 index 0000000000000000000000000000000000000000..a34e4f96e1e6cea8b8ecf981eb9368019a8fe6a4 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859200.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p50_zscore_no_random_wrongdir.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.32753623188405795, + "std_success": 0.011579701075616344, + "mean_progress": 0.5511291210675964, + "mean_action_mse_to_best": 0.42210989284234635, + "gain_vs_h4": 0.03083623188405793, + "gain_vs_h16_rank_checkpoint": 0.03014492753623188 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_zscore_no_random_wrongdir_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_zscore_no_random_wrongdir_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859202.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859202.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859202.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859202.out new file mode 100644 index 0000000000000000000000000000000000000000..47f79b6478e8bbd6b50e5ba44d0064bf6bfe285c --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859202.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p25_zscore_no_random_wrongdir.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.32811594202898553, + "std_success": 0.01578047256674343, + "mean_progress": 0.5503650608070303, + "mean_action_mse_to_best": 0.4053576613293178, + "gain_vs_h4": 0.03141594202898551, + "gain_vs_h16_rank_checkpoint": 0.03072463768115946 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_zscore_no_random_wrongdir_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_zscore_no_random_wrongdir_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859294.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859294.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859294.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859294.out new file mode 100644 index 0000000000000000000000000000000000000000..156bb0730514c5ee9bd8c00e9baaeff0ef62ffb9 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859294.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p50_type_success0p10.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3333333333333333, + "std_success": 0.00821880978478714, + "mean_progress": 0.5528276873363749, + "mean_action_mse_to_best": 0.4331563813282528, + "gain_vs_h4": 0.036633333333333296, + "gain_vs_h16_rank_checkpoint": 0.035942028985507246 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_type_success0p10_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_type_success0p10_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859296.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859296.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859296.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859296.out new file mode 100644 index 0000000000000000000000000000000000000000..7522256cf846c7bbedca50d6262c57c42f4f403c --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859296.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p50_type_success0p25.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3333333333333333, + "std_success": 0.00821880978478714, + "mean_progress": 0.5528276873363749, + "mean_action_mse_to_best": 0.4331563813282528, + "gain_vs_h4": 0.036633333333333296, + "gain_vs_h16_rank_checkpoint": 0.035942028985507246 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_type_success0p25_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_type_success0p25_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859298.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859298.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859298.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859298.out new file mode 100644 index 0000000000000000000000000000000000000000..f9fa43a85b8cbcb7fd13a30fc06a9268a5bb2990 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859298.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p25_type_success0p25.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3292753623188406, + "std_success": 0.015194599909659314, + "mean_progress": 0.5523768832874687, + "mean_action_mse_to_best": 0.40910649155253087, + "gain_vs_h4": 0.03257536231884056, + "gain_vs_h16_rank_checkpoint": 0.03188405797101451 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_type_success0p25_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_type_success0p25_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859399.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859399.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859399.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859399.out new file mode 100644 index 0000000000000000000000000000000000000000..8911671549a7f5549de3414454f6c35136c7a179 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859399.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p50_type_success0p50.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3333333333333333, + "std_success": 0.00821880978478714, + "mean_progress": 0.5528276873363749, + "mean_action_mse_to_best": 0.4331563813282528, + "gain_vs_h4": 0.036633333333333296, + "gain_vs_h16_rank_checkpoint": 0.035942028985507246 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_type_success0p50_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_type_success0p50_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859401.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859401.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859401.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859401.out new file mode 100644 index 0000000000000000000000000000000000000000..092ede8be1673c74140fe9fe4f3f4d93c6b42d99 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859401.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p50_type_success0p75.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3333333333333333, + "std_success": 0.00821880978478714, + "mean_progress": 0.5528276873363749, + "mean_action_mse_to_best": 0.4331563813282528, + "gain_vs_h4": 0.036633333333333296, + "gain_vs_h16_rank_checkpoint": 0.035942028985507246 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_type_success0p75_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_type_success0p75_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859504.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859504.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859504.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859504.out new file mode 100644 index 0000000000000000000000000000000000000000..5b0bd7e6b16d7682bc141d63fc99c21935cd3a0a --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859504.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3373913043478261, + "std_success": 0.004601306627938417, + "mean_progress": 0.554790610001031, + "mean_action_mse_to_best": 0.41091299527203257, + "gain_vs_h4": 0.040691304347826085, + "gain_vs_h16_rank_checkpoint": 0.040000000000000036 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859506.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859506.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859506.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859506.out new file mode 100644 index 0000000000000000000000000000000000000000..170d9c13020ff05381414397e0b0bd61b15e128a --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859506.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p45_safe_types.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.33507246376811595, + "std_success": 0.0061076253639726, + "mean_progress": 0.5519368337724664, + "mean_action_mse_to_best": 0.42269574523080083, + "gain_vs_h4": 0.03837246376811593, + "gain_vs_h16_rank_checkpoint": 0.03768115942028988 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p45_safe_types_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p45_safe_types_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859508.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859508.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859508.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859508.out new file mode 100644 index 0000000000000000000000000000000000000000..9d718135f4f3159e4a31394c9d8fb69fb36f9f78 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859508.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p60_safe_types.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3339130434782609, + "std_success": 0.007969696860792757, + "mean_progress": 0.5559090871016994, + "mean_action_mse_to_best": 0.4327756830790768, + "gain_vs_h4": 0.03721304347826088, + "gain_vs_h16_rank_checkpoint": 0.03652173913043483 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p60_safe_types_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p60_safe_types_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859510.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859510.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859510.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859510.out new file mode 100644 index 0000000000000000000000000000000000000000..e4c959c56b1c17825d4bfa857347b5583131b079 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859510.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p70_safe_types.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.33159420289855074, + "std_success": 0.00957838356049755, + "mean_progress": 0.5543574167716492, + "mean_action_mse_to_best": 0.4590698274988951, + "gain_vs_h4": 0.03489420289855072, + "gain_vs_h16_rank_checkpoint": 0.03420289855072467 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p70_safe_types_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p70_safe_types_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859590.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859590.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859590.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859590.out new file mode 100644 index 0000000000000000000000000000000000000000..fe05755de5140b31f17320d94002f238cb881813 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859590.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p30_safe_types.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.33507246376811595, + "std_success": 0.005020437123388053, + "mean_progress": 0.5540134637511295, + "mean_action_mse_to_best": 0.4067905238411133, + "gain_vs_h4": 0.03837246376811593, + "gain_vs_h16_rank_checkpoint": 0.03768115942028988 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p30_safe_types_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p30_safe_types_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859592.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859592.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859592.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859592.out new file mode 100644 index 0000000000000000000000000000000000000000..84b79005cc4b6a81325a8aed36674ca5a0c8f58b --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859592.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p325_safe_types.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3373913043478261, + "std_success": 0.006956521739130445, + "mean_progress": 0.5542141509488937, + "mean_action_mse_to_best": 0.4088565411100137, + "gain_vs_h4": 0.040691304347826085, + "gain_vs_h16_rank_checkpoint": 0.040000000000000036 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p325_safe_types_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p325_safe_types_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859594.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859594.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859594.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859594.out new file mode 100644 index 0000000000000000000000000000000000000000..ec004d585e7827b5733f594d3add04db5da3cec7 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859594.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p375_safe_types.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.33507246376811595, + "std_success": 0.008753431229299422, + "mean_progress": 0.5540295836509651, + "mean_action_mse_to_best": 0.4135543125857046, + "gain_vs_h4": 0.03837246376811593, + "gain_vs_h16_rank_checkpoint": 0.03768115942028988 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p375_safe_types_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p375_safe_types_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859596.err b/workspace/outputs/hpc/logs/sum_h16_policy_14859596.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14859596.out b/workspace/outputs/hpc/logs/sum_h16_policy_14859596.out new file mode 100644 index 0000000000000000000000000000000000000000..e66eb0d62441018bbb90da404aca72957cf20a4c --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14859596.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p40_safe_types.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3373913043478261, + "std_success": 0.007580693814853351, + "mean_progress": 0.5542008624550918, + "mean_action_mse_to_best": 0.41781920873492523, + "gain_vs_h4": 0.040691304347826085, + "gain_vs_h16_rank_checkpoint": 0.040000000000000036 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p40_safe_types_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p40_safe_types_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862458.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862458.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862458.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862458.out new file mode 100644 index 0000000000000000000000000000000000000000..8002bd76686a4b3f9121fd37b42c7745be38d634 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862458.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "residual_tangent_bc5_allmap_v2", + "out_name": "policy_rollout_best_policy.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.288695652173913, + "std_success": 0.023909090582378275, + "mean_progress": 0.5145328970480224, + "mean_action_mse_to_best": 0.4467836146661337, + "gain_vs_h4": -0.008004347826087, + "gain_vs_h16_rank_checkpoint": -0.008695652173913049 +} +Wrote results/h16_policy_ckpt_residual_tangent_bc5_allmap_v2_best_policy_summary.json +Wrote results/h16_policy_ckpt_residual_tangent_bc5_allmap_v2_best_policy_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862460.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862460.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862460.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862460.out new file mode 100644 index 0000000000000000000000000000000000000000..7311a07ac2dc5667b122ab4d7ac9686aca92f9a7 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862460.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "residual_tangent_bc5_allmap_v2", + "out_name": "policy_rollout_best_rank.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.2747826086956522, + "std_success": 0.03144894142613067, + "mean_progress": 0.5004920913333046, + "mean_action_mse_to_best": 0.452129202577137, + "gain_vs_h4": -0.021917391304347833, + "gain_vs_h16_rank_checkpoint": -0.022608695652173882 +} +Wrote results/h16_policy_ckpt_residual_tangent_bc5_allmap_v2_best_rank_summary.json +Wrote results/h16_policy_ckpt_residual_tangent_bc5_allmap_v2_best_rank_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862606.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862606.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862606.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862606.out new file mode 100644 index 0000000000000000000000000000000000000000..ca80e491538b087472d7e5f4025960a810030a41 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862606.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_policy_anchor_scale0p35_safe_noexpert.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3373913043478261, + "std_success": 0.004601306627938417, + "mean_progress": 0.554790610001031, + "mean_action_mse_to_best": 0.41091299527203257, + "gain_vs_h4": 0.040691304347826085, + "gain_vs_h16_rank_checkpoint": 0.040000000000000036 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_policy_anchor_scale0p35_safe_noexpert_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_policy_anchor_scale0p35_safe_noexpert_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862608.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862608.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862608.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862608.out new file mode 100644 index 0000000000000000000000000000000000000000..01fb2631ba8bc48c0782067df8bf0b3826bd51ef --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862608.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_policy_anchor_scale0p50_safe_noexpert.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3368115942028986, + "std_success": 0.006584241560348136, + "mean_progress": 0.5550795713346451, + "mean_action_mse_to_best": 0.4211789192766815, + "gain_vs_h4": 0.04011159420289856, + "gain_vs_h16_rank_checkpoint": 0.03942028985507251 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_policy_anchor_scale0p50_safe_noexpert_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_policy_anchor_scale0p50_safe_noexpert_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862610.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862610.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862610.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862610.out new file mode 100644 index 0000000000000000000000000000000000000000..e8ee930d9d3e63cbd7bd68f989ed3fc8daf0658d --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862610.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_type_success010.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3333333333333333, + "std_success": 0.012819330079707808, + "mean_progress": 0.551121375710042, + "mean_action_mse_to_best": 0.40250270315540443, + "gain_vs_h4": 0.036633333333333296, + "gain_vs_h16_rank_checkpoint": 0.035942028985507246 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_type_success010_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_type_success010_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862612.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862612.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862612.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862612.out new file mode 100644 index 0000000000000000000000000000000000000000..bf159bd84e44ab0a630715e18cf74558476c3fdd --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862612.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_type_success025.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3327536231884058, + "std_success": 0.01458521231931493, + "mean_progress": 0.5508019064297084, + "mean_action_mse_to_best": 0.4013589472123894, + "gain_vs_h4": 0.03605362318840577, + "gain_vs_h16_rank_checkpoint": 0.03536231884057972 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_type_success025_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_type_success025_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862636.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862636.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862636.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862636.out new file mode 100644 index 0000000000000000000000000000000000000000..2ba4a38d3e870246d3aca595e66355592a9563e6 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862636.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p005.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.33855072463768116, + "std_success": 0.00401634969871043, + "mean_progress": 0.5556607102397559, + "mean_action_mse_to_best": 0.4102128152754428, + "gain_vs_h4": 0.041850724637681136, + "gain_vs_h16_rank_checkpoint": 0.041159420289855086 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p005_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p005_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862638.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862638.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862638.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862638.out new file mode 100644 index 0000000000000000000000000000000000000000..b4783bf8c0f157bc9e55707df5b994a04f967cc1 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862638.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p01.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.33797101449275363, + "std_success": 0.0036202886947236954, + "mean_progress": 0.5554683623456167, + "mean_action_mse_to_best": 0.40964964097284756, + "gain_vs_h4": 0.04127101449275361, + "gain_vs_h16_rank_checkpoint": 0.04057971014492756 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p01_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p01_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862640.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862640.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862640.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862640.out new file mode 100644 index 0000000000000000000000000000000000000000..07e1f8916a35d3178f6a7eba23b7beb3349039d9 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862640.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p02.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3391304347826087, + "std_success": 0.0034782608695652084, + "mean_progress": 0.5563362686296898, + "mean_action_mse_to_best": 0.4085851986803438, + "gain_vs_h4": 0.04243043478260866, + "gain_vs_h16_rank_checkpoint": 0.04173913043478261 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p02_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p02_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862642.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862642.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862642.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862642.out new file mode 100644 index 0000000000000000000000000000000000000000..332e03344f910d546c914e6aa192b545117e9478 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862642.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p05.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3402898550724638, + "std_success": 0.005020437123388053, + "mean_progress": 0.5585862332413756, + "mean_action_mse_to_best": 0.4046023166384818, + "gain_vs_h4": 0.04358985507246377, + "gain_vs_h16_rank_checkpoint": 0.04289855072463772 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p05_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p05_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862679.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862679.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862679.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862679.out new file mode 100644 index 0000000000000000000000000000000000000000..d56e522ba55247a950a2c0ad7e9bf9bc7ba8da9c --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862679.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p075.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.34202898550724636, + "std_success": 0.006584241560348148, + "mean_progress": 0.5606157115688952, + "mean_action_mse_to_best": 0.402449019315882, + "gain_vs_h4": 0.045328985507246344, + "gain_vs_h16_rank_checkpoint": 0.044637681159420295 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p075_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p075_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862681.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862681.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862681.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862681.out new file mode 100644 index 0000000000000000000000000000000000000000..0a238efdf482a409acac17316f5369b587b73633 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862681.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p10.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3431884057971014, + "std_success": 0.010190374394925756, + "mean_progress": 0.5622972994830892, + "mean_action_mse_to_best": 0.39963253576902374, + "gain_vs_h4": 0.046488405797101395, + "gain_vs_h16_rank_checkpoint": 0.045797101449275346 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p10_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p10_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862683.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862683.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862683.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862683.out new file mode 100644 index 0000000000000000000000000000000000000000..43540e28c63da2b0001fc65d863927e291847914 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862683.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p15.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3466666666666667, + "std_success": 0.013508614722007019, + "mean_progress": 0.5636304695429599, + "mean_action_mse_to_best": 0.39731984767145007, + "gain_vs_h4": 0.04996666666666666, + "gain_vs_h16_rank_checkpoint": 0.04927536231884061 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p15_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p15_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862685.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862685.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862685.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862685.out new file mode 100644 index 0000000000000000000000000000000000000000..1e4b4db8e7bdb0cce65090ed09394241ddd3a7fa --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862685.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p20.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.34840579710144925, + "std_success": 0.017593032933905524, + "mean_progress": 0.5655668314795153, + "mean_action_mse_to_best": 0.3958463311627291, + "gain_vs_h4": 0.051705797101449236, + "gain_vs_h16_rank_checkpoint": 0.051014492753623186 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p20_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p20_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862715.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862715.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862715.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862715.out new file mode 100644 index 0000000000000000000000000000000000000000..3c0a697b1d3c34e456ae01b1aa739798e643521d --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862715.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p30.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.34608695652173915, + "std_success": 0.018157054798105306, + "mean_progress": 0.5636367717266968, + "mean_action_mse_to_best": 0.39438031803870544, + "gain_vs_h4": 0.049386956521739134, + "gain_vs_h16_rank_checkpoint": 0.048695652173913084 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p30_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p30_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862717.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862717.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862717.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862717.out new file mode 100644 index 0000000000000000000000000000000000000000..c3af4865f7ba9c572d9406092134701c40372552 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862717.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p40.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.34492753623188405, + "std_success": 0.019156767120995153, + "mean_progress": 0.562753911826103, + "mean_action_mse_to_best": 0.3946052004461703, + "gain_vs_h4": 0.04822753623188403, + "gain_vs_h16_rank_checkpoint": 0.04753623188405798 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p40_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p40_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862719.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862719.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862719.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862719.out new file mode 100644 index 0000000000000000000000000000000000000000..d77b8a37394cf5bd75b72911692ad5b26e612aa6 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862719.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p60.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.34144927536231884, + "std_success": 0.01915676712099512, + "mean_progress": 0.5607530164459931, + "mean_action_mse_to_best": 0.39419831574827, + "gain_vs_h4": 0.04474927536231882, + "gain_vs_h16_rank_checkpoint": 0.04405797101449277 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p60_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p60_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862721.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862721.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862721.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862721.out new file mode 100644 index 0000000000000000000000000000000000000000..fbaa6482dd57c87f0e8d93b9f85b7ad817273c65 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862721.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin1p00.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3408695652173913, + "std_success": 0.018157054798105306, + "mean_progress": 0.5602468522778908, + "mean_action_mse_to_best": 0.3942014737751173, + "gain_vs_h4": 0.04416956521739129, + "gain_vs_h16_rank_checkpoint": 0.043478260869565244 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin1p00_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin1p00_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862799.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862799.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862799.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862799.out new file mode 100644 index 0000000000000000000000000000000000000000..3062fd9a02998ac53184eb9ae6d8e7c0a4e12343 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862799.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p25_safe_types_margin0p20.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3455072463768116, + "std_success": 0.017157853434143458, + "mean_progress": 0.5624751563424671, + "mean_action_mse_to_best": 0.39550293604370906, + "gain_vs_h4": 0.04880724637681161, + "gain_vs_h16_rank_checkpoint": 0.04811594202898556 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_safe_types_margin0p20_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p25_safe_types_margin0p20_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862801.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862801.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862801.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862801.out new file mode 100644 index 0000000000000000000000000000000000000000..b09df40b3efc2eee0a8ed5c844895b79e7ea1aa3 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862801.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p40_safe_types_margin0p20.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.34782608695652173, + "std_success": 0.016771566540857326, + "mean_progress": 0.5654618425721729, + "mean_action_mse_to_best": 0.3968654996070309, + "gain_vs_h4": 0.05112608695652171, + "gain_vs_h16_rank_checkpoint": 0.05043478260869566 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p40_safe_types_margin0p20_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p40_safe_types_margin0p20_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862803.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862803.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862803.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862803.out new file mode 100644 index 0000000000000000000000000000000000000000..1cdabb48ea9541649fe3e6c13e9d8f6b3f96ab7a --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862803.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p50_safe_types_margin0p20.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.34840579710144925, + "std_success": 0.017593032933905524, + "mean_progress": 0.5658890142956311, + "mean_action_mse_to_best": 0.3996537289498509, + "gain_vs_h4": 0.051705797101449236, + "gain_vs_h16_rank_checkpoint": 0.051014492753623186 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_safe_types_margin0p20_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p50_safe_types_margin0p20_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862805.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862805.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862805.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862805.out new file mode 100644 index 0000000000000000000000000000000000000000..c4db5e4cc486934b300ea1a11385478a91c0ded4 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862805.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p75_safe_types_margin0p20.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3443478260869565, + "std_success": 0.013803919883815241, + "mean_progress": 0.5630646219364133, + "mean_action_mse_to_best": 0.43697492087772793, + "gain_vs_h4": 0.0476478260869565, + "gain_vs_h16_rank_checkpoint": 0.04695652173913045 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p75_safe_types_margin0p20_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p75_safe_types_margin0p20_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862824.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862824.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862824.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862824.out new file mode 100644 index 0000000000000000000000000000000000000000..ba54894b20472fac09e73f7b26dced45d29c5057 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862824.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p18.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3466666666666667, + "std_success": 0.01479113138802674, + "mean_progress": 0.5636368875724271, + "mean_action_mse_to_best": 0.396542789398868, + "gain_vs_h4": 0.04996666666666666, + "gain_vs_h16_rank_checkpoint": 0.04927536231884061 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p18_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p18_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862826.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862826.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862826.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862826.out new file mode 100644 index 0000000000000000000000000000000000000000..eddda8885cae08dc818380ccbd6f21ef5dfc11ea --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862826.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p22.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.34840579710144925, + "std_success": 0.017593032933905524, + "mean_progress": 0.5655779171832683, + "mean_action_mse_to_best": 0.39568004657392913, + "gain_vs_h4": 0.051705797101449236, + "gain_vs_h16_rank_checkpoint": 0.051014492753623186 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p22_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p22_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862828.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862828.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862828.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862828.out new file mode 100644 index 0000000000000000000000000000000000000000..5542dd131ac52df6a1bbb2b24bcc338d2b723cae --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862828.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_scale0p35_safe_types_margin0p25.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3455072463768116, + "std_success": 0.017157853434143458, + "mean_progress": 0.5634927251384764, + "mean_action_mse_to_best": 0.39447076573751977, + "gain_vs_h4": 0.04880724637681161, + "gain_vs_h16_rank_checkpoint": 0.04811594202898556 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p25_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_scale0p35_safe_types_margin0p25_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862858.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862858.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862858.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862858.out new file mode 100644 index 0000000000000000000000000000000000000000..a0c45362f7390864ecc98b649b89174b1b7a6f25 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862858.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_knn2_scale0p35_safe_types_margin0p20.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3501449275362319, + "std_success": 0.01907766106887459, + "mean_progress": 0.5666251124668834, + "mean_action_mse_to_best": 0.39739443172795186, + "gain_vs_h4": 0.05344492753623187, + "gain_vs_h16_rank_checkpoint": 0.05275362318840582 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn2_scale0p35_safe_types_margin0p20_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn2_scale0p35_safe_types_margin0p20_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862864.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862864.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862864.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862864.out new file mode 100644 index 0000000000000000000000000000000000000000..57c8b0fc80de08aacff1492ad16604086a1aa15a --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862864.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_knn4_scale0p35_safe_types_margin0p20.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.34898550724637684, + "std_success": 0.018595959341849794, + "mean_progress": 0.5656977585057061, + "mean_action_mse_to_best": 0.39866841265310843, + "gain_vs_h4": 0.05228550724637682, + "gain_vs_h16_rank_checkpoint": 0.05159420289855077 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_scale0p35_safe_types_margin0p20_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn4_scale0p35_safe_types_margin0p20_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862866.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862866.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862866.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862866.out new file mode 100644 index 0000000000000000000000000000000000000000..4441c9a8825ca64163b9ced86660c020320ad23e --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862866.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_knn8_scale0p35_safe_types_margin0p20.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.34840579710144925, + "std_success": 0.015194599909659314, + "mean_progress": 0.5652518557331074, + "mean_action_mse_to_best": 0.40407356052349014, + "gain_vs_h4": 0.051705797101449236, + "gain_vs_h16_rank_checkpoint": 0.051014492753623186 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn8_scale0p35_safe_types_margin0p20_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn8_scale0p35_safe_types_margin0p20_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862931.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862931.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862931.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862931.out new file mode 100644 index 0000000000000000000000000000000000000000..e7f50547f100d8263b6f14e8e55cfe8e9a00cc9d --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862931.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_knn2_scale0p35_safe_types_margin0p15.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3472463768115942, + "std_success": 0.012581179370556939, + "mean_progress": 0.564756924334041, + "mean_action_mse_to_best": 0.4001109910572785, + "gain_vs_h4": 0.050546376811594185, + "gain_vs_h16_rank_checkpoint": 0.049855072463768135 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn2_scale0p35_safe_types_margin0p15_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn2_scale0p35_safe_types_margin0p15_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862935.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862935.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862935.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862935.out new file mode 100644 index 0000000000000000000000000000000000000000..73f44ef6fc0d89e79ca55058c7e454df879bd9c5 --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862935.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_knn2_scale0p35_safe_types_margin0p25.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3466666666666667, + "std_success": 0.01759303293390554, + "mean_progress": 0.5645089878962977, + "mean_action_mse_to_best": 0.3954999150443768, + "gain_vs_h4": 0.04996666666666666, + "gain_vs_h16_rank_checkpoint": 0.04927536231884061 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn2_scale0p35_safe_types_margin0p25_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn2_scale0p35_safe_types_margin0p25_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862937.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862937.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862937.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862937.out new file mode 100644 index 0000000000000000000000000000000000000000..1ba3c22da7885463b0fa379d2ed532790701607c --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862937.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_knn2_scale0p40_safe_types_margin0p20.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.3501449275362319, + "std_success": 0.016159257814221867, + "mean_progress": 0.5670320824102236, + "mean_action_mse_to_best": 0.3984417730505052, + "gain_vs_h4": 0.05344492753623187, + "gain_vs_h16_rank_checkpoint": 0.05275362318840582 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn2_scale0p40_safe_types_margin0p20_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn2_scale0p40_safe_types_margin0p20_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862939.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862939.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862939.out b/workspace/outputs/hpc/logs/sum_h16_policy_14862939.out new file mode 100644 index 0000000000000000000000000000000000000000..44c0ff6d0d3e6862921fdc148d5bc1d433b479fd --- /dev/null +++ b/workspace/outputs/hpc/logs/sum_h16_policy_14862939.out @@ -0,0 +1,16 @@ +{ + "run_root": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs", + "objective": "near_miss_policy_bc5", + "out_name": "policy_rollout_retrieval_residual_knn2_scale0p50_safe_types_margin0p20.json", + "num_completed": 3, + "baseline_h4_policy_success": 0.2967, + "baseline_h16_rank_checkpoint_success": 0.29739130434782607, + "mean_success": 0.34840579710144925, + "std_success": 0.017764119937442965, + "mean_progress": 0.5669115647895419, + "mean_action_mse_to_best": 0.4032255988276523, + "gain_vs_h4": 0.051705797101449236, + "gain_vs_h16_rank_checkpoint": 0.051014492753623186 +} +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn2_scale0p50_safe_types_margin0p20_summary.json +Wrote results/h16_policy_ckpt_near_miss_policy_bc5_bestpt_retrieval_residual_knn2_scale0p50_safe_types_margin0p20_summary.md diff --git a/workspace/outputs/hpc/logs/sum_h16_policy_14862971.err b/workspace/outputs/hpc/logs/sum_h16_policy_14862971.err new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391