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rollouts/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/results.json

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+{
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+  ]
+}

rollouts/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/results.txt

@@ -0,0 +1,4 @@
+task=OpenDrawer-ManagerBased-v0
+num_checkpoints=1
+
+ckpt_step_0100000: step=100000 success_rate=0.0600 success_count=3/50 mean_episode_length=1171.80 stage_drawer_opened=0.7400(37/50) stage_charger_picked=0.1400(7/50) stage_charger_placed=0.1000(5/50) stage_drawer_closed=0.0600(3/50) stage_drawer_opened_conditional=0.7400(37/50) stage_charger_picked_conditional=0.1892(7/37) stage_charger_placed_conditional=0.7143(5/7) stage_drawer_closed_conditional=0.6000(3/5)

rollouts/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260629_044703-uomsd4rn/files/config.yaml

@@ -0,0 +1,247 @@
+_wandb:
+    value:
+        cli_version: 0.27.0
+        e:
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+                args:
+                    - --config
+                    - /home/david/Document/robopolicy/scripts/eval/roboticarmsim_eval_config.json
+                    - -o
+                    - horizon=1200
+                    - -o
+                    - seed=0
+                    - -o
+                    - num_rollouts=50
+                    - -o
+                    - checkpoint_dir=/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/checkpoints
+                    - -o
+                    - output_name=sd0_50_rollouts
+                    - -o
+                    - wandb_run_name=sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_eval_sd0_50_rollouts
+                codePath: scripts/eval/roboticsarmsim_eval.py
+                codePathLocal: scripts/eval/roboticsarmsim_eval.py
+                cpu_count: 16
+                cpu_count_logical: 32
+                cudaVersion: "13.0"
+                disk:
+                    /:
+                        total: "1081101176832"
+                        used: "756230615040"
+                email: chengenwu@berkeley.edu
+                executable: /home/david/Document/env_isaaclab/bin/python
+                git:
+                    commit: d323bc5b083a667adf8a659e6a042c0f96948892
+                    remote: git@github.com:YixiaoWang7/robopolicy.git
+                gpu: NVIDIA GeForce RTX 5090
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Blackwell
+                      cudaCores: 21760
+                      memoryTotal: "34190917632"
+                      name: NVIDIA GeForce RTX 5090
+                      uuid: GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b
+                host: yixiao-G914
+                memory:
+                    total: "65677729792"
+                os: Linux-7.0.0-22-generic-x86_64-with-glibc2.43
+                program: /home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py
+                python: CPython 3.11.15
+                root: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts
+                startedAt: "2026-06-29T11:47:03.045683Z"
+                writerId: 8x0pu43m82cxznt96ftcsl9wug0e6vlv
+        m: []
+        python_version: 3.11.15
+        t:
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+                - 11
+                - 41
+                - 49
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+            "4": 3.11.15
+            "5": 0.27.0
+            "6": 4.57.6
+            "12": 0.27.0
+            "13": linux-x86_64
+algo:
+    value:
+        beta_alpha: 1.5
+        beta_beta: 1
+        dense_jump_density: 2
+        guidance_scale: 1
+        logit_normal_loc: 0
+        logit_normal_scale: 1
+        num_inference_steps: 10
+        ot_reg: 0.05
+        path_type: linear
+        scheduler_type: uniform
+        sigma_min: 0.0001
+        sigma_schedule: constant
+        solver_type: euler
+        t_max: 0.999
+        time_eps: 0
+dataset:
+    value:
+        cameras:
+            - left
+            - wrist
+        data_dir: /home/david/Document/dataset/new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_split_sd0
+        loader:
+            batch_size: 128
+            num_workers: 8
+            prefetch_factor: 4
+        sampling:
+            active_window_shards: 20
+            frame_cache_max_entries: 12000
+            k_passes: 8
+            locality_block_size: 64
+            log_stall_ms: 0
+            predecode_next_block: true
+            profile_every_samples: 500
+            profile_timing: false
+        split:
+            min_val_demos: 2
+            split_seed: 0
+            val_fraction: 0.02
+        task_filter:
+            exclude_task_slugs: []
+            include_task_slugs: []
+feature:
+    value:
+        features:
+            - camera_names: []
+              future: 15
+              history: 0
+              key: actions
+              paths:
+                - actions
+              shape:
+                - 7
+              source_type: hdf5
+            - camera_names: []
+              future: 0
+              history: 0
+              key: state
+              paths:
+                - obs/robot0_eef_pos
+                - obs/robot0_eef_quat
+                - obs/robot0_gripper_qpos
+              shape:
+                - 9
+              source_type: hdf5
+            - camera_names:
+                - left
+                - wrist
+              future: 0
+              history: 0
+              key: images
+              paths: []
+              shape:
+                - 3
+                - 256
+                - 256
+              source_type: video
+logging:
+    value:
+        out_dir: runs/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train
+        wandb:
+            enabled: true
+            entity: learn_from_failure_dwu
+            project: new_opendrawer_flow_lff
+            run_name: sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5
+model:
+    value:
+        bc_mlp_hidden_dims:
+            - 512
+            - 512
+        camera_feature_combine: concat
+        crop: true
+        crop_is_random: true
+        crop_size: 224
+        direct_select_use_task_emb: true
+        down_dims:
+            - 128
+            - 256
+            - 512
+        env_entity_dim: 7
+        env_num_entities: 6
+        env_state_mode: attention_pool
+        env_token_embed_dim: 256
+        freeze_vision_backbone: true
+        fusion_dropout: 0.1
+        fusion_ff_dim: 256
+        fusion_mask_type: none
+        fusion_num_heads: 8
+        fusion_num_layers: 4
+        image_size: 224
+        kernel_size: 5
+        n_groups: 8
+        num_query_tokens: 2
+        pooled_dim: 64
+        raw_image_size: 256
+        time_embed_dim: 128
+        use_film_scale_modulation: true
+        vision_model_size: small
+processor:
+    value:
+        add_task_indices: true
+        container_to_idx:
+            bin: 0
+            cup: 1
+            plate: 2
+        normalization_type: minmax
+        normalize_actions: true
+        normalize_states: true
+        obj_to_idx:
+            cross: 0
+            cube: 1
+            cylinder: 2
+        stats_cache_path: ""
+roboticsarmsim_eval:
+    value:
+        actions_per_step: 8
+        checkpoint_dir: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/checkpoints
+        disable_fabric: false
+        env_spacing: 10
+        horizon: 1200
+        num_envs: 10
+        num_rollouts: 50
+        output_name: sd0_50_rollouts
+        policy_image_downsample_factor: 1
+        seed: 0
+        task: OpenDrawer-ManagerBased-v0
+        task_module: RoboticArmSim.tasks
+        video: true
+        video_cameras:
+            - left
+            - wrist
+train:
+    value:
+        amp: false
+        device: ""
+        eval_best_of_k: 4
+        eval_every: 500
+        eval_num_batches: 10
+        grad_clip_norm: 1
+        log_every: 500
+        lr: 0.0001
+        lr_schedule:
+            min_lr_ratio: 0.0001
+            type: cosine
+            warmup_steps: 1000
+        num_data_warmup: 50
+        num_steps: 100000
+        save_every: 10000
+        seed: 0
+        weight_decay: 0.0001
+version:
+    value: 1

rollouts/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260629_044703-uomsd4rn/files/output.log

@@ -0,0 +1,248 @@
+[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-29_04-47-05.log
+======================================================================================
+
+04:47:05 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
+[INFO]: Base environment:
+	Environment device    : cpu
+	Environment seed      : None
+	Physics step-size     : 0.016666666666666666
+	Rendering step-size   : 0.016666666666666666
+	Environment step-size : 0.016666666666666666
+04:47:06 [xform_prim_view.py] WARNING: Fabric mode with Warp fabric-array operations is not supported on CPU devices. While Fabric itself can run on both CPU and GPU, our batch Warp kernels for fabric-array operations require CUDA and are not reliable on the CPU backend. To ensure stability, Fabric is being disabled and execution will fall back to standard USD operations on the CPU. This may impact performance.
+[INFO]: Time taken for scene creation : 0.531545 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 10
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : ['/World/GroundPlane']
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 4.229058 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_all                  |
+|   1    | reset_cabinet_position     |
+|   2    | reset_charger_position     |
++--------+----------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++------------------------------------+
+|   Active Action Terms (shape: 7)   |
++-------+----------------+-----------+
+| Index | Name           | Dimension |
++-------+----------------+-----------+
+|   0   | arm_action     |         6 |
+|   1   | gripper_action |         1 |
++-------+----------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'policy' (shape: (39,)) |
++---------+----------------------------------------+---------+
+|  Index  | Name                                   |  Shape  |
++---------+----------------------------------------+---------+
+|    0    | joint_pos                              |   (9,)  |
+|    1    | joint_vel                              |   (9,)  |
+|    2    | cabinet_joint_pos                      |   (1,)  |
+|    3    | cabinet_joint_vel                      |   (1,)  |
+|    4    | charger_pos                            |   (3,)  |
+|    5    | rel_ee_drawer_distance                 |   (3,)  |
+|    6    | rel_ee_charger_distance                |   (3,)  |
+|    7    | rel_charger_drawer_distance            |   (3,)  |
+|    8    | previous_action                        |   (7,)  |
++---------+----------------------------------------+---------+
++-------------------------------------------+
+| Active Observation Terms in Group: 'pose' |
++---------+-----------------------+---------+
+|  Index  | Name                  |  Shape  |
++---------+-----------------------+---------+
+|    0    | ee_pose               |   (7,)  |
+|    1    | gripper_pose          |   (7,)  |
+|    2    | cabinet_pose          |   (7,)  |
+|    3    | left_table_pose       |   (7,)  |
+|    4    | charger_pose          |   (7,)  |
++---------+-----------------------+---------+
++--------------------------------------------------+
+| Active Observation Terms in Group: 'rgb_camera'  |
++----------+-----------------+---------------------+
+|  Index   | Name            |        Shape        |
++----------+-----------------+---------------------+
+|    0     | teleop_cam      |    (256, 256, 3)    |
+|    1     | left_cam        |    (256, 256, 3)    |
+|    2     | right_cam       |    (256, 256, 3)    |
+|    3     | wrist_cam       |    (256, 256, 3)    |
+|    4     | top_cam         |    (256, 256, 3)    |
++----------+-----------------+---------------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | success  |  False   |
+|   1   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 14 active terms.
++----------------------------------------------+
+|             Active Reward Terms              |
++-------+----------------------------+---------+
+| Index | Name                       |  Weight |
++-------+----------------------------+---------+
+|   0   | approach_ee_handle         |     2.0 |
+|   1   | align_ee_handle            |     0.5 |
+|   2   | approach_gripper_handle    |     5.0 |
+|   3   | align_grasp_around_handle  |   0.125 |
+|   4   | grasp_handle               |     0.5 |
+|   5   | open_drawer_bonus          |     7.5 |
+|   6   | multi_stage_open_drawer    |     1.0 |
+|   7   | approach_ee_charger        |     2.0 |
+|   8   | lift_charger               |     4.0 |
+|   9   | charger_to_drawer          |     6.0 |
+|   10  | charger_in_drawer          |     8.0 |
+|   11  | close_drawer_after_charger |    10.0 |
+|   12  | action_rate_l2             |   -0.01 |
+|   13  | joint_vel                  | -0.0001 |
++-------+----------------------------+---------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000)
+[extract_model_images] camera_names=['left', 'wrist'] per_camera_shapes=[(10, 3, 256, 256), (10, 3, 256, 256)] return_shape=(10, 2, 3, 256, 256) dtype=torch.uint8
+[OpenDrawer] stage 1 drawer opened success reached for envs [0]
+[OpenDrawer] stage 1 drawer opened success reached for envs [3]
+[OpenDrawer] stage 1 drawer opened success reached for envs [7]
+[OpenDrawer] stage 1 drawer opened success reached for envs [6]
+[OpenDrawer] stage 1 drawer opened success reached for envs [4, 9]
+[OpenDrawer] stage 1 drawer opened success reached for envs [5]
+[OpenDrawer] stage 1 drawer opened success reached for envs [2]
+[OpenDrawer] stage 1 drawer opened success reached for envs [8]
+[OpenDrawer] stage 1 drawer opened success reached for envs [4]
+[OpenDrawer] stage 1 drawer opened success reached for envs [7]
+[OpenDrawer] stage 1 drawer opened success reached for envs [0]
+[OpenDrawer] stage 1 drawer opened success reached for envs [9]
+[OpenDrawer] stage 1 drawer opened success reached for envs [5]
+[OpenDrawer] stage 2 charger picked up success reached for envs [4]
+[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4]
+[OpenDrawer] stage 1 drawer opened success reached for envs [8]
+[OpenDrawer] stage 1 drawer opened success reached for envs [4]
+[OpenDrawer] stage 1 drawer opened success reached for envs [5]
+[OpenDrawer] stage 1 drawer opened success reached for envs [1]
+[OpenDrawer] stage 1 drawer opened success reached for envs [6]
+[OpenDrawer] stage 1 drawer opened success reached for envs [0]
+[OpenDrawer] stage 2 charger picked up success reached for envs [0]
+[OpenDrawer] stage 1 drawer opened success reached for envs [5]
+[OpenDrawer] stage 1 drawer opened success reached for envs [0]
+[OpenDrawer] stage 1 drawer opened success reached for envs [8]
+[OpenDrawer] stage 1 drawer opened success reached for envs [7]
+[OpenDrawer] stage 1 drawer opened success reached for envs [3]
+[OpenDrawer] stage 1 drawer opened success reached for envs [9]
+[OpenDrawer] stage 1 drawer opened success reached for envs [1]
+[OpenDrawer] stage 1 drawer opened success reached for envs [6]
+[OpenDrawer] stage 2 charger picked up success reached for envs [7]
+[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7]
+[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7]
+[OpenDrawer] stage 1 drawer opened success reached for envs [7]
+[OpenDrawer] stage 1 drawer opened success reached for envs [2]
+[OpenDrawer] stage 1 drawer opened success reached for envs [1]
+[OpenDrawer] stage 1 drawer opened success reached for envs [5]
+[OpenDrawer] stage 1 drawer opened success reached for envs [9]
+[OpenDrawer] stage 1 drawer opened success reached for envs [8]
+[OpenDrawer] stage 1 drawer opened success reached for envs [0]
+[OpenDrawer] stage 1 drawer opened success reached for envs [6]
+[OpenDrawer] stage 1 drawer opened success reached for envs [4]
+[OpenDrawer] stage 2 charger picked up success reached for envs [2]
+[OpenDrawer] stage 2 charger picked up success reached for envs [0]
+[OpenDrawer] stage 2 charger picked up success reached for envs [8]
+[OpenDrawer] stage 2 charger picked up success reached for envs [1]
+[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2]
+[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0]
+[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8]
+[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0]
+[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8]
+[OpenDrawer] stage 1 drawer opened success reached for envs [0]
+[OpenDrawer] stage 1 drawer opened success reached for envs [8]
+[OpenDrawer] stage 1 drawer opened success reached for envs [7]
+[OpenDrawer] stage 2 charger picked up success reached for envs [0]
+[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0]
+[ckpt_step_0100000] rollout   1/50: success=False steps=1200 env=0
+[ckpt_step_0100000] rollout   2/50: success=False steps=1200 env=1
+[ckpt_step_0100000] rollout   3/50: success=False steps=1200 env=2
+[ckpt_step_0100000] rollout   4/50: success=False steps=1200 env=3
+[ckpt_step_0100000] rollout   5/50: success=False steps=1200 env=4
+[ckpt_step_0100000] rollout   6/50: success=False steps=1200 env=5
+[ckpt_step_0100000] rollout   7/50: success=False steps=1200 env=6
+[ckpt_step_0100000] rollout   8/50: success=False steps=1200 env=7
+[ckpt_step_0100000] rollout   9/50: success=False steps=1200 env=8
+[ckpt_step_0100000] rollout  10/50: success=False steps=1200 env=9
+[ckpt_step_0100000] rollout  11/50: success=False steps=1200 env=0
+[ckpt_step_0100000] rollout  12/50: success=False steps=1200 env=1
+[ckpt_step_0100000] rollout  13/50: success=False steps=1200 env=2
+[ckpt_step_0100000] rollout  14/50: success=False steps=1200 env=3
+[ckpt_step_0100000] rollout  15/50: success=False steps=1200 env=4
+[ckpt_step_0100000] rollout  16/50: success=False steps=1200 env=5
+[ckpt_step_0100000] rollout  17/50: success=False steps=1200 env=6
+[ckpt_step_0100000] rollout  18/50: success=False steps=1200 env=7
+[ckpt_step_0100000] rollout  19/50: success=False steps=1200 env=8
+[ckpt_step_0100000] rollout  20/50: success=False steps=1200 env=9
+[ckpt_step_0100000] rollout  21/50: success=False steps=1200 env=0
+[ckpt_step_0100000] rollout  22/50: success=False steps=1200 env=1
+[ckpt_step_0100000] rollout  23/50: success=False steps=1200 env=2
+[ckpt_step_0100000] rollout  24/50: success=False steps=1200 env=3
+[ckpt_step_0100000] rollout  25/50: success=False steps=1200 env=4
+[ckpt_step_0100000] rollout  26/50: success=False steps=1200 env=5
+[ckpt_step_0100000] rollout  27/50: success=False steps=1200 env=6
+[ckpt_step_0100000] rollout  28/50: success=False steps=1200 env=7
+[ckpt_step_0100000] rollout  29/50: success=False steps=1200 env=8
+[ckpt_step_0100000] rollout  30/50: success=False steps=1200 env=9
+[ckpt_step_0100000] rollout  31/50: success=True steps=831 env=7
+[ckpt_step_0100000] rollout  32/50: success=False steps=1200 env=0
+[ckpt_step_0100000] rollout  33/50: success=False steps=1200 env=1
+[ckpt_step_0100000] rollout  34/50: success=False steps=1200 env=2
+[ckpt_step_0100000] rollout  35/50: success=False steps=1200 env=3
+[ckpt_step_0100000] rollout  36/50: success=False steps=1200 env=4
+[ckpt_step_0100000] rollout  37/50: success=False steps=1200 env=5
+[ckpt_step_0100000] rollout  38/50: success=False steps=1200 env=6
+[ckpt_step_0100000] rollout  39/50: success=False steps=1200 env=8
+[ckpt_step_0100000] rollout  40/50: success=False steps=1200 env=9
+[ckpt_step_0100000] rollout  41/50: success=True steps=667 env=0
+[ckpt_step_0100000] rollout  42/50: success=True steps=692 env=8
+[ckpt_step_0100000] rollout  43/50: success=False steps=1200 env=7
+[ckpt_step_0100000] rollout  44/50: success=False steps=1200 env=1
+[ckpt_step_0100000] rollout  45/50: success=False steps=1200 env=2
+[ckpt_step_0100000] rollout  46/50: success=False steps=1200 env=3
+[ckpt_step_0100000] rollout  47/50: success=False steps=1200 env=4
+[ckpt_step_0100000] rollout  48/50: success=False steps=1200 env=5
+[ckpt_step_0100000] rollout  49/50: success=False steps=1200 env=6
+[ckpt_step_0100000] rollout  50/50: success=False steps=1200 env=9

rollouts/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260629_044703-uomsd4rn/files/requirements.txt

@@ -0,0 +1,262 @@
+robopolicy==0.1.0
+psutil==5.9.8
+isaaclab_contrib==0.0.2
+pluggy==1.6.0
+isaaclab_mimic==1.0.16
+stable_baselines3==2.8.0
+Pygments==2.20.0
+typing_extensions==4.15.0
+mdurl==0.1.2
+coverage==7.4.4
+jsonschema-specifications==2025.9.1
+isaacsim-robot-setup==5.1.0.0
+cmeel-qhull==8.0.2.1
+nest-asyncio==1.5.6
+Markdown==3.10.2
+tornado==6.5.1
+gymnasium==1.2.1
+orjson==3.11.9
+moviepy==2.2.1
+pyglet==1.5.31
+isaacsim-test==5.1.0.0
+isaacsim-gui==5.1.0.0
+torch==2.7.0+cu128
+nvidia-cusolver-cu12==11.7.2.55
+isaacsim-cortex==5.1.0.0
+qrcode==7.4.2
+rpds-py==2026.5.1
+async-timeout==5.0.1
+fsspec==2026.4.0
+isaacsim-extscache-kit-sdk==5.1.0.0
+nvidia-curand-cu12==10.3.9.55
+zipp==4.1.0
+huggingface_hub==0.36.2
+importlib_metadata==9.0.0
+isaacsim-example==5.1.0.0
+setuptools==81.0.0
+networkx==3.6.1
+python-multipart==0.0.20
+ipython==9.14.0
+idna-ssl==1.1.0
+isaacsim-robot==5.1.0.0
+wcwidth==0.7.0
+referencing==0.37.0
+tokenizers==0.22.2
+osqp==0.6.7.post3
+grpcio==1.80.0
+isaacsim-core==5.1.0.0
+imageio==2.37.0
+cmeel-tinyxml==2.6.2.3
+regex==2026.5.9
+Rtree==1.3.0
+pycares==4.8.0
+torchvision==0.22.0+cu128
+starlette==0.49.1
+aiofiles==23.2.1
+cmeel-zlib==1.3.2
+packaging==23.0
+pydantic==2.11.10
+pandas==3.0.3
+pip==26.1.2
+msal==1.27.0
+comm==0.2.3
+isaacsim-sensor==5.1.0.0
+cmeel-console-bridge==1.0.2.3
+isaacsim-kernel==5.1.0.0
+anytree==2.13.0
+trimesh==4.5.1
+h11==0.16.0
+isaacsim-robot-motion==5.1.0.0
+sentry-sdk==2.29.1
+cloudpickle==3.1.2
+azure-identity==1.13.0
+toml==0.10.2
+yarl==1.18.3
+msal-extensions==1.0.0
+scipy==1.15.3
+boto3==1.39.11
+pydantic_core==2.33.2
+charset-normalizer==3.3.2
+isaacsim-storage==5.1.0.0
+typing-inspection==0.4.2
+uvicorn==0.29.0
+frozenlist==1.5.0
+tomli==2.4.1
+aiohappyeyeballs==2.4.4
+aiosignal==1.3.2
+pytz==2024.1
+isaaclab==0.54.3
+eigenpy==3.5.1
+quadprog==0.1.13
+python-dateutil==2.9.0.post0
+rl_games==1.6.1
+awscrt==0.23.8
+nvidia-cusparse-cu12==12.5.7.53
+markdown-it-py==4.2.0
+pytest==9.0.3
+jupyterlab_widgets==3.0.16
+websockets==12.0
+isaacsim-code-editor==5.1.0.0
+pexpect==4.9.0
+rich==15.0.0
+isaaclab_assets==0.2.4
+aioitertools==0.11.0
+isaacsim-template==5.1.0.0
+platformdirs==4.10.0
+tensorboardX==2.6.5
+hidapi==0.14.0.post2
+cmeel-boost==1.83.0
+aiohttp==3.11.11
+pyperclip==1.8.0
+prettytable==3.3.0
+pyvers==0.2.2
+filelock==3.29.0
+requests==2.32.3
+isaacsim-app==5.1.0.0
+Werkzeug==3.1.8
+nvidia-cuda-cupti-cu12==12.8.57
+nlopt==2.7.1
+onnx==1.21.0
+onnxscript==0.7.0
+ipython_pygments_lexers==1.1.1
+absl-py==2.4.0
+isaacsim==5.1.0.0
+aiodns==3.1.1
+tensorboard==2.20.0
+gym==0.23.1
+isaacsim-rl==5.1.0.0
+python-dotenv==1.2.2
+hydra-core==1.3.2
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rollouts/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260629_044703-uomsd4rn/logs/debug.log

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+2026-06-29 04:47:03,046 INFO    MainThread:3132897 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260629_044703-uomsd4rn/logs/debug.log
+2026-06-29 04:47:03,046 INFO    MainThread:3132897 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260629_044703-uomsd4rn/logs/debug-internal.log
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+2026-06-29 04:47:03,046 INFO    MainThread:3132897 [wandb_init.py:init():856] wandb.init called with sweep_config: {}
+config: {'version': 1, 'feature': {'features': ({'key': 'actions', 'shape': (7,), 'source_type': 'hdf5', 'paths': ('actions',), 'camera_names': (), 'history': 0, 'future': 15}, {'key': 'state', 'shape': (9,), 'source_type': 'hdf5', 'paths': ('obs/robot0_eef_pos', 'obs/robot0_eef_quat', 'obs/robot0_gripper_qpos'), 'camera_names': (), 'history': 0, 'future': 0}, {'key': 'images', 'shape': (3, 256, 256), 'source_type': 'video', 'paths': (), 'camera_names': ('left', 'wrist'), 'history': 0, 'future': 0})}, 'dataset': {'data_dir': '/home/david/Document/dataset/new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_split_sd0', 'cameras': ('left', 'wrist'), 'task_filter': {'include_task_slugs': (), 'exclude_task_slugs': ()}, 'split': {'val_fraction': 0.02, 'split_seed': 0, 'min_val_demos': 2}, 'sampling': {'k_passes': 8, 'active_window_shards': 20, 'locality_block_size': 64, 'predecode_next_block': True, 'frame_cache_max_entries': 12000, 'profile_timing': False, 'profile_every_samples': 500, 'log_stall_ms': 0.0}, 'loader': {'batch_size': 128, 'num_workers': 8, 'prefetch_factor': 4}}, 'processor': {'normalization_type': 'minmax', 'normalize_actions': True, 'normalize_states': True, 'stats_cache_path': '', 'add_task_indices': True, 'obj_to_idx': {'cross': 0, 'cube': 1, 'cylinder': 2}, 'container_to_idx': {'bin': 0, 'cup': 1, 'plate': 2}}, 'model': {'raw_image_size': 256, 'crop_size': 224, 'crop': True, 'crop_is_random': True, 'image_size': 224, 'vision_model_size': 'small', 'freeze_vision_backbone': True, 'pooled_dim': 64, 'fusion_num_layers': 4, 'fusion_num_heads': 8, 'fusion_ff_dim': 256, 'fusion_dropout': 0.1, 'fusion_mask_type': 'none', 'camera_feature_combine': 'concat', 'num_query_tokens': 2, 'down_dims': (128, 256, 512), 'time_embed_dim': 128, 'kernel_size': 5, 'n_groups': 8, 'use_film_scale_modulation': True, 'bc_mlp_hidden_dims': (512, 512), 'env_num_entities': 6, 'env_entity_dim': 7, 'env_token_embed_dim': 256, 'env_state_mode': 'attention_pool', 'direct_select_use_task_emb': True}, 'algo': {'path_type': 'linear', 'scheduler_type': 'uniform', 'solver_type': 'euler', 'num_inference_steps': 10, 'guidance_scale': 1.0, 'sigma_min': 0.0001, 'sigma_schedule': 'constant', 'ot_reg': 0.05, 'time_eps': 0.0, 't_max': 0.999, 'logit_normal_loc': 0.0, 'logit_normal_scale': 1.0, 'dense_jump_density': 2.0, 'beta_alpha': 1.5, 'beta_beta': 1.0}, 'train': {'device': '', 'seed': 0, 'lr': 0.0001, 'weight_decay': 0.0001, 'amp': False, 'grad_clip_norm': 1.0, 'num_steps': 100000, 'num_data_warmup': 50, 'log_every': 500, 'eval_every': 500, 'eval_num_batches': 10, 'eval_best_of_k': 4, 'save_every': 10000, 'lr_schedule': {'type': 'cosine', 'warmup_steps': 1000, 'min_lr_ratio': 0.0001}}, 'logging': {'out_dir': 'runs/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train', 'wandb': {'enabled': True, 'project': 'new_opendrawer_flow_lff', 'entity': 'learn_from_failure_dwu', 'run_name': 'sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5'}}, 'roboticsarmsim_eval': {'checkpoint_dir': '/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_2_10_vig_cut_thd_3_mg_5_flow_train/checkpoints', 'task': 'OpenDrawer-ManagerBased-v0', 'task_module': 'RoboticArmSim.tasks', 'num_rollouts': 50, 'num_envs': 10, 'env_spacing': 10.0, 'horizon': 1200, 'actions_per_step': 8, 'seed': 0, 'video': True, 'video_cameras': ['left', 'wrist'], 'policy_image_downsample_factor': 1, 'disable_fabric': False, 'output_name': 'sd0_50_rollouts'}, '_wandb': {}}
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rollouts/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/results.txt

@@ -0,0 +1,14 @@
+task=OpenDrawer-ManagerBased-v0
+num_checkpoints=11
+
+ckpt_step_0010000: step=10000 success_rate=0.1000 success_count=5/50 mean_episode_length=1154.02 stage_drawer_opened=0.6800(34/50) stage_charger_picked=0.2000(10/50) stage_charger_placed=0.1600(8/50) stage_drawer_closed=0.1000(5/50) stage_drawer_opened_conditional=0.6800(34/50) stage_charger_picked_conditional=0.2941(10/34) stage_charger_placed_conditional=0.8000(8/10) stage_drawer_closed_conditional=0.6250(5/8)
+ckpt_step_0020000: step=20000 success_rate=0.2200 success_count=11/50 mean_episode_length=1108.66 stage_drawer_opened=0.9000(45/50) stage_charger_picked=0.3200(16/50) stage_charger_placed=0.2600(13/50) stage_drawer_closed=0.2200(11/50) stage_drawer_opened_conditional=0.9000(45/50) stage_charger_picked_conditional=0.3556(16/45) stage_charger_placed_conditional=0.8125(13/16) stage_drawer_closed_conditional=0.8462(11/13)
+ckpt_step_0030000: step=30000 success_rate=0.1000 success_count=5/50 mean_episode_length=1163.86 stage_drawer_opened=0.8800(44/50) stage_charger_picked=0.2000(10/50) stage_charger_placed=0.1400(7/50) stage_drawer_closed=0.1000(5/50) stage_drawer_opened_conditional=0.8800(44/50) stage_charger_picked_conditional=0.2273(10/44) stage_charger_placed_conditional=0.7000(7/10) stage_drawer_closed_conditional=0.7143(5/7)
+ckpt_step_0040000: step=40000 success_rate=0.2200 success_count=11/50 mean_episode_length=1100.48 stage_drawer_opened=0.7800(39/50) stage_charger_picked=0.3000(15/50) stage_charger_placed=0.2600(13/50) stage_drawer_closed=0.2200(11/50) stage_drawer_opened_conditional=0.7800(39/50) stage_charger_picked_conditional=0.3846(15/39) stage_charger_placed_conditional=0.8667(13/15) stage_drawer_closed_conditional=0.8462(11/13)
+ckpt_step_0050000: step=50000 success_rate=0.2400 success_count=12/50 mean_episode_length=1090.18 stage_drawer_opened=0.8000(40/50) stage_charger_picked=0.2400(12/50) stage_charger_placed=0.2400(12/50) stage_drawer_closed=0.2400(12/50) stage_drawer_opened_conditional=0.8000(40/50) stage_charger_picked_conditional=0.3000(12/40) stage_charger_placed_conditional=1.0000(12/12) stage_drawer_closed_conditional=1.0000(12/12)
+ckpt_step_0060000: step=60000 success_rate=0.1400 success_count=7/50 mean_episode_length=1133.62 stage_drawer_opened=0.8600(43/50) stage_charger_picked=0.2200(11/50) stage_charger_placed=0.1400(7/50) stage_drawer_closed=0.1400(7/50) stage_drawer_opened_conditional=0.8600(43/50) stage_charger_picked_conditional=0.2558(11/43) stage_charger_placed_conditional=0.6364(7/11) stage_drawer_closed_conditional=1.0000(7/7)
+ckpt_step_0070000: step=70000 success_rate=0.1400 success_count=7/50 mean_episode_length=1156.16 stage_drawer_opened=0.8600(43/50) stage_charger_picked=0.2200(11/50) stage_charger_placed=0.1800(9/50) stage_drawer_closed=0.1400(7/50) stage_drawer_opened_conditional=0.8600(43/50) stage_charger_picked_conditional=0.2558(11/43) stage_charger_placed_conditional=0.8182(9/11) stage_drawer_closed_conditional=0.7778(7/9)
+ckpt_step_0080000: step=80000 success_rate=0.2400 success_count=12/50 mean_episode_length=1101.38 stage_drawer_opened=0.8000(40/50) stage_charger_picked=0.2800(14/50) stage_charger_placed=0.2800(14/50) stage_drawer_closed=0.2400(12/50) stage_drawer_opened_conditional=0.8000(40/50) stage_charger_picked_conditional=0.3500(14/40) stage_charger_placed_conditional=1.0000(14/14) stage_drawer_closed_conditional=0.8571(12/14)
+ckpt_step_0090000: step=90000 success_rate=0.3200 success_count=16/50 mean_episode_length=1072.72 stage_drawer_opened=0.8000(40/50) stage_charger_picked=0.3600(18/50) stage_charger_placed=0.3400(17/50) stage_drawer_closed=0.3200(16/50) stage_drawer_opened_conditional=0.8000(40/50) stage_charger_picked_conditional=0.4500(18/40) stage_charger_placed_conditional=0.9444(17/18) stage_drawer_closed_conditional=0.9412(16/17)
+ckpt_final: step=100000 success_rate=0.1600 success_count=8/50 mean_episode_length=1137.54 stage_drawer_opened=0.9000(45/50) stage_charger_picked=0.2000(10/50) stage_charger_placed=0.1800(9/50) stage_drawer_closed=0.1600(8/50) stage_drawer_opened_conditional=0.9000(45/50) stage_charger_picked_conditional=0.2222(10/45) stage_charger_placed_conditional=0.9000(9/10) stage_drawer_closed_conditional=0.8889(8/9)
+ckpt_step_0100000: step=100000 success_rate=0.1000 success_count=5/50 mean_episode_length=1154.20 stage_drawer_opened=0.7800(39/50) stage_charger_picked=0.1800(9/50) stage_charger_placed=0.1200(6/50) stage_drawer_closed=0.1000(5/50) stage_drawer_opened_conditional=0.7800(39/50) stage_charger_picked_conditional=0.2308(9/39) stage_charger_placed_conditional=0.6667(6/9) stage_drawer_closed_conditional=0.8333(5/6)

rollouts/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260624_230310-xzt7bkns/files/config.yaml

@@ -0,0 +1,247 @@
+_wandb:
+    value:
+        cli_version: 0.27.0
+        e:
+            ttz92zv5hu7a9myg1bmoarlej8uufgip:
+                args:
+                    - --config
+                    - /home/david/Document/robopolicy/scripts/eval/roboticarmsim_eval_config.json
+                    - -o
+                    - horizon=1200
+                    - -o
+                    - seed=0
+                    - -o
+                    - num_rollouts=50
+                    - -o
+                    - checkpoint_dir=/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints
+                    - -o
+                    - output_name=sd0_50_rollouts
+                    - -o
+                    - wandb_run_name=sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_eval_sd0_50_rollouts
+                codePath: scripts/eval/roboticsarmsim_eval.py
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+            - wrist
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+        loader:
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+              paths:
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+                - obs/robot0_eef_quat
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+              source_type: hdf5
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+        wandb:
+            enabled: true
+            entity: learn_from_failure_dwu
+            project: new_opendrawer_flow_lff
+            run_name: sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5
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+    value:
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+            - 512
+            - 512
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+        direct_select_use_task_emb: true
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+        kernel_size: 5
+        n_groups: 8
+        num_query_tokens: 2
+        pooled_dim: 64
+        raw_image_size: 256
+        time_embed_dim: 128
+        use_film_scale_modulation: true
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+roboticsarmsim_eval:
+    value:
+        actions_per_step: 8
+        checkpoint_dir: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints
+        disable_fabric: false
+        env_spacing: 10
+        horizon: 1200
+        num_envs: 10
+        num_rollouts: 50
+        output_name: sd0_50_rollouts
+        policy_image_downsample_factor: 1
+        seed: 0
+        task: OpenDrawer-ManagerBased-v0
+        task_module: RoboticArmSim.tasks
+        video: true
+        video_cameras:
+            - left
+            - wrist
+train:
+    value:
+        amp: false
+        device: ""
+        eval_best_of_k: 4
+        eval_every: 500
+        eval_num_batches: 10
+        grad_clip_norm: 1
+        log_every: 500
+        lr: 0.0001
+        lr_schedule:
+            min_lr_ratio: 0.0001
+            type: cosine
+            warmup_steps: 1000
+        num_data_warmup: 50
+        num_steps: 100000
+        save_every: 10000
+        seed: 0
+        weight_decay: 0.0001
+version:
+    value: 1

rollouts/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260624_230310-xzt7bkns/files/requirements.txt

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rollouts/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260624_230310-xzt7bkns/files/wandb-metadata.json

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+  "startedAt": "2026-06-25T06:03:10.938835Z",
+  "args": [
+    "--config",
+    "/home/david/Document/robopolicy/scripts/eval/roboticarmsim_eval_config.json",
+    "-o",
+    "horizon=1200",
+    "-o",
+    "seed=0",
+    "-o",
+    "num_rollouts=50",
+    "-o",
+    "checkpoint_dir=/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints",
+    "-o",
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+    "-o",
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+  },
+  "email": "chengenwu@berkeley.edu",
+  "root": "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts",
+  "host": "yixiao-G914",
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rollouts/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260624_230310-xzt7bkns/files/wandb-summary.json

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+config: {'version': 1, 'feature': {'features': ({'key': 'actions', 'shape': (7,), 'source_type': 'hdf5', 'paths': ('actions',), 'camera_names': (), 'history': 0, 'future': 15}, {'key': 'state', 'shape': (9,), 'source_type': 'hdf5', 'paths': ('obs/robot0_eef_pos', 'obs/robot0_eef_quat', 'obs/robot0_gripper_qpos'), 'camera_names': (), 'history': 0, 'future': 0}, {'key': 'images', 'shape': (3, 256, 256), 'source_type': 'video', 'paths': (), 'camera_names': ('left', 'wrist'), 'history': 0, 'future': 0})}, 'dataset': {'data_dir': '/home/david/Document/dataset/new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_split_sd0', 'cameras': ('left', 'wrist'), 'task_filter': {'include_task_slugs': (), 'exclude_task_slugs': ()}, 'split': {'val_fraction': 0.02, 'split_seed': 0, 'min_val_demos': 2}, 'sampling': {'k_passes': 8, 'active_window_shards': 20, 'locality_block_size': 64, 'predecode_next_block': True, 'frame_cache_max_entries': 12000, 'profile_timing': False, 'profile_every_samples': 500, 'log_stall_ms': 0.0}, 'loader': {'batch_size': 128, 'num_workers': 8, 'prefetch_factor': 4}}, 'processor': {'normalization_type': 'minmax', 'normalize_actions': True, 'normalize_states': True, 'stats_cache_path': '', 'add_task_indices': True, 'obj_to_idx': {'cross': 0, 'cube': 1, 'cylinder': 2}, 'container_to_idx': {'bin': 0, 'cup': 1, 'plate': 2}}, 'model': {'raw_image_size': 256, 'crop_size': 224, 'crop': True, 'crop_is_random': True, 'image_size': 224, 'vision_model_size': 'small', 'freeze_vision_backbone': True, 'pooled_dim': 64, 'fusion_num_layers': 4, 'fusion_num_heads': 8, 'fusion_ff_dim': 256, 'fusion_dropout': 0.1, 'fusion_mask_type': 'none', 'camera_feature_combine': 'concat', 'num_query_tokens': 2, 'down_dims': (128, 256, 512), 'time_embed_dim': 128, 'kernel_size': 5, 'n_groups': 8, 'use_film_scale_modulation': True, 'bc_mlp_hidden_dims': (512, 512), 'env_num_entities': 6, 'env_entity_dim': 7, 'env_token_embed_dim': 256, 'env_state_mode': 'attention_pool', 'direct_select_use_task_emb': True}, 'algo': {'path_type': 'linear', 'scheduler_type': 'uniform', 'solver_type': 'euler', 'num_inference_steps': 10, 'guidance_scale': 1.0, 'sigma_min': 0.0001, 'sigma_schedule': 'constant', 'ot_reg': 0.05, 'time_eps': 0.0, 't_max': 0.999, 'logit_normal_loc': 0.0, 'logit_normal_scale': 1.0, 'dense_jump_density': 2.0, 'beta_alpha': 1.5, 'beta_beta': 1.0}, 'train': {'device': '', 'seed': 0, 'lr': 0.0001, 'weight_decay': 0.0001, 'amp': False, 'grad_clip_norm': 1.0, 'num_steps': 100000, 'num_data_warmup': 50, 'log_every': 500, 'eval_every': 500, 'eval_num_batches': 10, 'eval_best_of_k': 4, 'save_every': 10000, 'lr_schedule': {'type': 'cosine', 'warmup_steps': 1000, 'min_lr_ratio': 0.0001}}, 'logging': {'out_dir': 'runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train', 'wandb': {'enabled': True, 'project': 'new_opendrawer_flow_lff', 'entity': 'learn_from_failure_dwu', 'run_name': 'sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5'}}, 'roboticsarmsim_eval': {'checkpoint_dir': '/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints', 'task': 'OpenDrawer-ManagerBased-v0', 'task_module': 'RoboticArmSim.tasks', 'num_rollouts': 50, 'num_envs': 10, 'env_spacing': 10.0, 'horizon': 1200, 'actions_per_step': 8, 'seed': 0, 'video': True, 'video_cameras': ['left', 'wrist'], 'policy_image_downsample_factor': 1, 'disable_fabric': False, 'output_name': 'sd0_50_rollouts'}, '_wandb': {}}
+2026-06-24 23:03:10,939 INFO    MainThread:3646018 [wandb_init.py:init():899] starting backend
+2026-06-24 23:03:11,149 INFO    MainThread:3646018 [wandb_init.py:init():914] sending inform_init request
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+2026-06-25 02:08:11,588 INFO    MainThread:3646018 [wandb_run.py:_restore():2464] restore done
+2026-06-25 02:08:13,010 INFO    MainThread:3646018 [wandb_run.py:_footer_sync_info():3877] logging synced files

rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_095049-v10mloh6/files/config.yaml

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+_wandb:
+    value:
+        cli_version: 0.27.0
+        e:
+            7u5wzeda5z8ubc4gb3c78c6ez42m5foy:
+                args:
+                    - --config
+                    - /home/david/Document/robopolicy/scripts/eval/roboticarmsim_eval_config.json
+                    - -o
+                    - horizon=1200
+                    - -o
+                    - seed=0
+                    - -o
+                    - num_rollouts=50
+                    - -o
+                    - checkpoint_dir=/home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train/checkpoints
+                    - -o
+                    - output_name=sd0_50_rollouts
+                    - -o
+                    - wandb_run_name=sd0_new_opendrawer_45_vig_dagger_th3_ema5_eval_sd0_50_rollouts
+                codePath: scripts/eval/roboticsarmsim_eval.py
+                codePathLocal: scripts/eval/roboticsarmsim_eval.py
+                cpu_count: 16
+                cpu_count_logical: 32
+                cudaVersion: "13.0"
+                disk:
+                    /:
+                        total: "1081101176832"
+                        used: "896726667264"
+                email: chengenwu@berkeley.edu
+                executable: /home/david/Document/env_isaaclab/bin/python
+                git:
+                    commit: c606b3ecb440dfcb42be760899388ec0a3cdcbf8
+                    remote: git@github.com:YixiaoWang7/robopolicy.git
+                gpu: NVIDIA GeForce RTX 5090
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Blackwell
+                      cudaCores: 21760
+                      memoryTotal: "34190917632"
+                      name: NVIDIA GeForce RTX 5090
+                      uuid: GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b
+                host: yixiao-G914
+                memory:
+                    total: "65677729792"
+                os: Linux-7.0.0-22-generic-x86_64-with-glibc2.43
+                program: /home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py
+                python: CPython 3.11.15
+                root: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts
+                startedAt: "2026-07-17T16:50:49.100254Z"
+                writerId: 7u5wzeda5z8ubc4gb3c78c6ez42m5foy
+        m: []
+        python_version: 3.11.15
+        t:
+            "1":
+                - 1
+                - 11
+                - 41
+                - 49
+            "2":
+                - 1
+                - 11
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+            "3":
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+                - 61
+            "4": 3.11.15
+            "5": 0.27.0
+            "6": 4.57.6
+            "12": 0.27.0
+            "13": linux-x86_64
+algo:
+    value:
+        beta_alpha: 1.5
+        beta_beta: 1
+        dense_jump_density: 2
+        guidance_scale: 1
+        logit_normal_loc: 0
+        logit_normal_scale: 1
+        num_inference_steps: 10
+        ot_reg: 0.05
+        path_type: linear
+        scheduler_type: uniform
+        sigma_min: 0.0001
+        sigma_schedule: constant
+        solver_type: euler
+        t_max: 0.999
+        time_eps: 0
+dataset:
+    value:
+        cameras:
+            - left
+            - wrist
+        data_dir: /home/david/Document/dataset/new_opendrawer_45_vig_dagger_th3_ema5_split_sd0
+        loader:
+            batch_size: 128
+            num_workers: 8
+            prefetch_factor: 4
+        sampling:
+            active_window_shards: 20
+            frame_cache_max_entries: 12000
+            k_passes: 8
+            locality_block_size: 64
+            log_stall_ms: 0
+            predecode_next_block: true
+            profile_every_samples: 500
+            profile_timing: false
+        split:
+            min_val_demos: 2
+            split_seed: 0
+            val_fraction: 0.02
+        task_filter:
+            exclude_task_slugs: []
+            include_task_slugs: []
+feature:
+    value:
+        features:
+            - camera_names: []
+              future: 15
+              history: 0
+              key: actions
+              paths:
+                - actions
+              shape:
+                - 7
+              source_type: hdf5
+            - camera_names: []
+              future: 0
+              history: 0
+              key: state
+              paths:
+                - obs/robot0_eef_pos
+                - obs/robot0_eef_quat
+                - obs/robot0_gripper_qpos
+              shape:
+                - 9
+              source_type: hdf5
+            - camera_names:
+                - left
+                - wrist
+              future: 0
+              history: 0
+              key: images
+              paths: []
+              shape:
+                - 3
+                - 256
+                - 256
+              source_type: video
+logging:
+    value:
+        out_dir: runs/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train
+        wandb:
+            enabled: true
+            entity: learn_from_failure_dwu
+            project: new_opendrawer_dagger
+            run_name: sd0_new_opendrawer_45_vig_dagger_th3_ema5
+model:
+    value:
+        bc_mlp_hidden_dims:
+            - 512
+            - 512
+        camera_feature_combine: concat
+        crop: true
+        crop_is_random: true
+        crop_size: 224
+        direct_select_use_task_emb: true
+        down_dims:
+            - 128
+            - 256
+            - 512
+        env_entity_dim: 7
+        env_num_entities: 6
+        env_state_mode: attention_pool
+        env_token_embed_dim: 256
+        freeze_vision_backbone: true
+        fusion_dropout: 0.1
+        fusion_ff_dim: 256
+        fusion_mask_type: none
+        fusion_num_heads: 8
+        fusion_num_layers: 4
+        image_size: 224
+        kernel_size: 5
+        n_groups: 8
+        num_query_tokens: 2
+        pooled_dim: 64
+        raw_image_size: 256
+        time_embed_dim: 128
+        use_film_scale_modulation: true
+        vision_model_size: small
+processor:
+    value:
+        add_task_indices: true
+        container_to_idx:
+            bin: 0
+            cup: 1
+            plate: 2
+        normalization_type: minmax
+        normalize_actions: true
+        normalize_states: true
+        obj_to_idx:
+            cross: 0
+            cube: 1
+            cylinder: 2
+        stats_cache_path: ""
+roboticsarmsim_eval:
+    value:
+        actions_per_step: 8
+        checkpoint_dir: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train/checkpoints
+        disable_fabric: false
+        env_spacing: 10
+        horizon: 1200
+        num_envs: 10
+        num_rollouts: 50
+        output_name: sd0_50_rollouts
+        policy_image_downsample_factor: 1
+        seed: 0
+        task: OpenDrawer-ManagerBased-v0
+        task_module: RoboticArmSim.tasks
+        video: true
+        video_cameras:
+            - left
+            - wrist
+        vig: false
+        vig_action_factor: 1
+        vig_action_sample_index: 0
+        vig_decision_cadence: chunk
+        vig_factors:
+            - 1
+            - 2
+            - 4
+            - 8
+        vig_feature: full_flat
+        vig_first_k: 16
+        vig_k: 8
+        vig_num_samples: 32
+        vig_threshold: 0.03
+train:
+    value:
+        amp: false
+        device: ""
+        eval_best_of_k: 4
+        eval_every: 500
+        eval_num_batches: 10
+        grad_clip_norm: 1
+        log_every: 500
+        lr: 0.0001
+        lr_schedule:
+            min_lr_ratio: 0.0001
+            type: cosine
+            warmup_steps: 1000
+        num_data_warmup: 50
+        num_steps: 100000
+        save_every: 10000
+        seed: 0
+        weight_decay: 0.0001
+version:
+    value: 1

rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_095049-v10mloh6/files/output.log

@@ -0,0 +1,281 @@
+[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg
+
+========================================================================================================
+[INFO][IsaacLab]: Logging to file: /home/david/.cache/tmp/isaaclab/logs/isaaclab_2026-07-17_09-50-49.log
+========================================================================================================
+
+09:50:50 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
+[INFO]: Base environment:
+	Environment device    : cpu
+	Environment seed      : None
+	Physics step-size     : 0.016666666666666666
+	Rendering step-size   : 0.016666666666666666
+	Environment step-size : 0.016666666666666666
+09:50:51 [xform_prim_view.py] WARNING: Fabric mode with Warp fabric-array operations is not supported on CPU devices. While Fabric itself can run on both CPU and GPU, our batch Warp kernels for fabric-array operations require CUDA and are not reliable on the CPU backend. To ensure stability, Fabric is being disabled and execution will fall back to standard USD operations on the CPU. This may impact performance.
+[INFO]: Time taken for scene creation : 1.496452 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 10
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : ['/World/GroundPlane']
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 4.203222 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_all                  |
+|   1    | reset_cabinet_position     |
+|   2    | reset_charger_position     |
++--------+----------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++------------------------------------+
+|   Active Action Terms (shape: 7)   |
++-------+----------------+-----------+
+| Index | Name           | Dimension |
++-------+----------------+-----------+
+|   0   | arm_action     |         6 |
+|   1   | gripper_action |         1 |
++-------+----------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'policy' (shape: (39,)) |
++---------+----------------------------------------+---------+
+|  Index  | Name                                   |  Shape  |
++---------+----------------------------------------+---------+
+|    0    | joint_pos                              |   (9,)  |
+|    1    | joint_vel                              |   (9,)  |
+|    2    | cabinet_joint_pos                      |   (1,)  |
+|    3    | cabinet_joint_vel                      |   (1,)  |
+|    4    | charger_pos                            |   (3,)  |
+|    5    | rel_ee_drawer_distance                 |   (3,)  |
+|    6    | rel_ee_charger_distance                |   (3,)  |
+|    7    | rel_charger_drawer_distance            |   (3,)  |
+|    8    | previous_action                        |   (7,)  |
++---------+----------------------------------------+---------+
++-------------------------------------------+
+| Active Observation Terms in Group: 'pose' |
++---------+-----------------------+---------+
+|  Index  | Name                  |  Shape  |
++---------+-----------------------+---------+
+|    0    | ee_pose               |   (7,)  |
+|    1    | gripper_pose          |   (7,)  |
+|    2    | cabinet_pose          |   (7,)  |
+|    3    | left_table_pose       |   (7,)  |
+|    4    | charger_pose          |   (7,)  |
++---------+-----------------------+---------+
++--------------------------------------------------+
+| Active Observation Terms in Group: 'rgb_camera'  |
++----------+-----------------+---------------------+
+|  Index   | Name            |        Shape        |
++----------+-----------------+---------------------+
+|    0     | teleop_cam      |    (256, 256, 3)    |
+|    1     | left_cam        |    (256, 256, 3)    |
+|    2     | right_cam       |    (256, 256, 3)    |
+|    3     | wrist_cam       |    (256, 256, 3)    |
+|    4     | top_cam         |    (256, 256, 3)    |
++----------+-----------------+---------------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | success  |  False   |
+|   1   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 14 active terms.
++----------------------------------------------+
+|             Active Reward Terms              |
++-------+----------------------------+---------+
+| Index | Name                       |  Weight |
++-------+----------------------------+---------+
+|   0   | approach_ee_handle         |     2.0 |
+|   1   | align_ee_handle            |     0.5 |
+|   2   | approach_gripper_handle    |     5.0 |
+|   3   | align_grasp_around_handle  |   0.125 |
+|   4   | grasp_handle               |     0.5 |
+|   5   | open_drawer_bonus          |     7.5 |
+|   6   | multi_stage_open_drawer    |     1.0 |
+|   7   | approach_ee_charger        |     2.0 |
+|   8   | lift_charger               |     4.0 |
+|   9   | charger_to_drawer          |     6.0 |
+|   10  | charger_in_drawer          |     8.0 |
+|   11  | close_drawer_after_charger |    10.0 |
+|   12  | action_rate_l2             |   -0.01 |
+|   13  | joint_vel                  | -0.0001 |
++-------+----------------------------+---------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000)
+[extract_model_images] camera_names=['left', 'wrist'] per_camera_shapes=[(10, 3, 256, 256), (10, 3, 256, 256)] return_shape=(10, 2, 3, 256, 256) dtype=torch.uint8
+[OpenDrawer] stage 1 drawer opened success reached for envs [0]
+[OpenDrawer] stage 1 drawer opened success reached for envs [4]
+[OpenDrawer] stage 1 drawer opened success reached for envs [9]
+[OpenDrawer] stage 1 drawer opened success reached for envs [7]
+[OpenDrawer] stage 1 drawer opened success reached for envs [5]
+[OpenDrawer] stage 1 drawer opened success reached for envs [3]
+[OpenDrawer] stage 2 charger picked up success reached for envs [9]
+[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9]
+[OpenDrawer] stage 2 charger picked up success reached for envs [5]
+[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9]
+[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5]
+[OpenDrawer] stage 1 drawer opened success reached for envs [9]
+[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5]
+[OpenDrawer] stage 1 drawer opened success reached for envs [5]
+[OpenDrawer] stage 1 drawer opened success reached for envs [8]
+[OpenDrawer] stage 1 drawer opened success reached for envs [3]
+[OpenDrawer] stage 1 drawer opened success reached for envs [4]
+[OpenDrawer] stage 1 drawer opened success reached for envs [0]
+[OpenDrawer] stage 2 charger picked up success reached for envs [5]
+[OpenDrawer] stage 1 drawer opened success reached for envs [8]
+[OpenDrawer] stage 2 charger picked up success reached for envs [9]
+[OpenDrawer] stage 1 drawer opened success reached for envs [7]
+[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5]
+[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9]
+[OpenDrawer] stage 2 charger picked up success reached for envs [0]
+[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9]
+[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0]
+[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0]
+[OpenDrawer] stage 1 drawer opened success reached for envs [0]
+[OpenDrawer] stage 1 drawer opened success reached for envs [5]
+[OpenDrawer] stage 1 drawer opened success reached for envs [6]
+[OpenDrawer] stage 1 drawer opened success reached for envs [1, 7]
+[OpenDrawer] stage 2 charger picked up success reached for envs [5]
+[OpenDrawer] stage 1 drawer opened success reached for envs [8]
+[OpenDrawer] stage 1 drawer opened success reached for envs [2]
+[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5]
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+[ckpt_step_0100000] rollout   1/50: success=True steps=748 env=9
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+[ckpt_step_0100000] rollout  50/50: success=False steps=1200 env=2

rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_095049-v10mloh6/files/requirements.txt

@@ -0,0 +1,262 @@
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rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_095049-v10mloh6/logs/debug.log

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rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/results.json

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+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0058_partial/wrist.mp4"
+          ]
+        }
+      ]
+    }
+  ]
+}

rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/results.txt

@@ -0,0 +1,4 @@
+task=OpenDrawer-ManagerBased-v0
+num_checkpoints=1
+
+ckpt_step_0100000: step=100000 success_rate=0.2600 success_count=13/50 mean_episode_length=1074.64 stage_drawer_opened=0.8200(41/50) stage_charger_picked=0.3400(17/50) stage_charger_placed=0.2600(13/50) stage_drawer_closed=0.2600(13/50) stage_drawer_opened_conditional=0.8200(41/50) stage_charger_picked_conditional=0.4146(17/41) stage_charger_placed_conditional=0.7647(13/17) stage_drawer_closed_conditional=1.0000(13/13)

rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/files/config.yaml

@@ -0,0 +1,243 @@
+_wandb:
+    value:
+        cli_version: 0.27.0
+        e:
+            8qn02ejvzx8624z9w77eeqop2u6cfmxx:
+                args:
+                    - --config
+                    - /home/david/Document/robopolicy/scripts/eval/roboticarmsim_eval_config.json
+                    - -o
+                    - horizon=1200
+                    - -o
+                    - seed=0
+                    - -o
+                    - num_rollouts=50
+                    - -o
+                    - checkpoint_dir=/home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/checkpoints
+                    - -o
+                    - output_name=sd0_50_rollouts
+                    - -o
+                    - wandb_run_name=sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_eval_sd0_50_rollouts
+                codePath: scripts/eval/roboticsarmsim_eval.py
+                codePathLocal: scripts/eval/roboticsarmsim_eval.py
+                email: chengenwu@berkeley.edu
+                executable: /home/david/Document/env_isaaclab/bin/python
+                git:
+                    commit: cfc224a87241d6d5ad51e57357d686ca654de8df
+                    remote: git@github.com:YixiaoWang7/robopolicy.git
+                host: yixiao-G914
+                os: Linux-7.0.0-22-generic-x86_64-with-glibc2.43
+                program: /home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py
+                python: CPython 3.11.15
+                root: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts
+                startedAt: "2026-07-08T08:01:26.787449Z"
+                writerId: 8qn02ejvzx8624z9w77eeqop2u6cfmxx
+        m: []
+        python_version: 3.11.15
+        t:
+            "1":
+                - 1
+                - 11
+                - 41
+                - 49
+            "2":
+                - 1
+                - 11
+                - 41
+                - 49
+            "3":
+                - 13
+                - 16
+                - 41
+            "4": 3.11.15
+            "5": 0.27.0
+            "6": 4.57.6
+            "12": 0.27.0
+            "13": linux-x86_64
+algo:
+    value:
+        beta_alpha: 1.5
+        beta_beta: 1
+        dense_jump_density: 2
+        guidance_scale: 1
+        logit_normal_loc: 0
+        logit_normal_scale: 1
+        num_inference_steps: 10
+        ot_reg: 0.05
+        path_type: linear
+        scheduler_type: uniform
+        sigma_min: 0.0001
+        sigma_schedule: constant
+        solver_type: euler
+        t_max: 0.999
+        time_eps: 0
+dataset:
+    value:
+        cameras:
+            - left
+            - wrist
+        data_dir: /home/david/Document/dataset/new_opendrawer_45_vig_dagger_th3_split_sd0
+        loader:
+            batch_size: 128
+            num_workers: 8
+            prefetch_factor: 4
+        sampling:
+            active_window_shards: 20
+            frame_cache_max_entries: 12000
+            k_passes: 8
+            locality_block_size: 64
+            log_stall_ms: 0
+            predecode_next_block: true
+            profile_every_samples: 500
+            profile_timing: false
+        split:
+            min_val_demos: 2
+            split_seed: 0
+            val_fraction: 0.02
+        task_filter:
+            exclude_task_slugs: []
+            include_task_slugs: []
+feature:
+    value:
+        features:
+            - camera_names: []
+              future: 15
+              history: 0
+              key: actions
+              paths:
+                - actions
+              shape:
+                - 7
+              source_type: hdf5
+            - camera_names: []
+              future: 0
+              history: 0
+              key: state
+              paths:
+                - obs/robot0_eef_pos
+                - obs/robot0_eef_quat
+                - obs/robot0_gripper_qpos
+              shape:
+                - 9
+              source_type: hdf5
+            - camera_names:
+                - left
+                - wrist
+              future: 0
+              history: 0
+              key: images
+              paths: []
+              shape:
+                - 3
+                - 256
+                - 256
+              source_type: video
+logging:
+    value:
+        out_dir: runs/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train
+        wandb:
+            enabled: true
+            entity: learn_from_failure_dwu
+            project: new_opendrawer_dagger
+            run_name: sd0_new_opendrawer_45_vig_dagger_th3_split_sd0
+model:
+    value:
+        bc_mlp_hidden_dims:
+            - 512
+            - 512
+        camera_feature_combine: concat
+        crop: true
+        crop_is_random: true
+        crop_size: 224
+        direct_select_use_task_emb: true
+        down_dims:
+            - 128
+            - 256
+            - 512
+        env_entity_dim: 7
+        env_num_entities: 6
+        env_state_mode: attention_pool
+        env_token_embed_dim: 256
+        freeze_vision_backbone: true
+        fusion_dropout: 0.1
+        fusion_ff_dim: 256
+        fusion_mask_type: none
+        fusion_num_heads: 8
+        fusion_num_layers: 4
+        image_size: 224
+        kernel_size: 5
+        n_groups: 8
+        num_query_tokens: 2
+        pooled_dim: 64
+        raw_image_size: 256
+        time_embed_dim: 128
+        use_film_scale_modulation: true
+        vision_model_size: small
+processor:
+    value:
+        add_task_indices: true
+        container_to_idx:
+            bin: 0
+            cup: 1
+            plate: 2
+        normalization_type: minmax
+        normalize_actions: true
+        normalize_states: true
+        obj_to_idx:
+            cross: 0
+            cube: 1
+            cylinder: 2
+        stats_cache_path: ""
+roboticsarmsim_eval:
+    value:
+        actions_per_step: 8
+        checkpoint_dir: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/checkpoints
+        disable_fabric: false
+        env_spacing: 10
+        horizon: 1200
+        num_envs: 10
+        num_rollouts: 50
+        output_name: sd0_50_rollouts
+        policy_image_downsample_factor: 1
+        seed: 0
+        task: OpenDrawer-ManagerBased-v0
+        task_module: RoboticArmSim.tasks
+        video: true
+        video_cameras:
+            - left
+            - wrist
+        vig: false
+        vig_action_factor: 1
+        vig_action_sample_index: 0
+        vig_decision_cadence: step
+        vig_factors:
+            - 1
+            - 2
+            - 4
+            - 8
+        vig_feature: full_flat
+        vig_first_k: 16
+        vig_k: 1
+        vig_num_samples: 32
+        vig_threshold: 0.03
+train:
+    value:
+        amp: false
+        device: ""
+        eval_best_of_k: 4
+        eval_every: 500
+        eval_num_batches: 10
+        grad_clip_norm: 1
+        log_every: 500
+        lr: 0.0001
+        lr_schedule:
+            min_lr_ratio: 0.0001
+            type: cosine
+            warmup_steps: 1000
+        num_data_warmup: 50
+        num_steps: 100000
+        save_every: 10000
+        seed: 0
+        weight_decay: 0.0001
+version:
+    value: 1

rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/files/output.log

@@ -0,0 +1,55 @@
+[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg
+Traceback (most recent call last):
+  File "/home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py", line 945, in <module>
+    main()
+  File "/home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py", line 886, in main
+    env = gym.make(args_cli.task, cfg=copy.deepcopy(env_cfg))
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/david/Document/env_isaaclab/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 734, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/david/Document/IsaacLab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py", line 80, in __init__
+    super().__init__(cfg=cfg)
+  File "/home/david/Document/IsaacLab/source/isaaclab/isaaclab/envs/manager_based_env.py", line 104, in __init__
+    self.sim: SimulationContext = SimulationContext(self.cfg.sim)
+                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/david/Document/IsaacLab/source/isaaclab/isaaclab/sim/simulation_context.py", line 139, in __init__
+    self.logger = configure_logging(
+                  ^^^^^^^^^^^^^^^^^^
+  File "/home/david/Document/IsaacLab/source/isaaclab/isaaclab/utils/logger.py", line 90, in configure_logging
+    file_handler = logging.FileHandler(log_file_path, mode="w", encoding="utf-8")
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/david/.local/share/uv/python/cpython-3.11.15-linux-x86_64-gnu/lib/python3.11/logging/__init__.py", line 1181, in __init__
+    StreamHandler.__init__(self, self._open())
+                                 ^^^^^^^^^^^^
+  File "/home/david/.local/share/uv/python/cpython-3.11.15-linux-x86_64-gnu/lib/python3.11/logging/__init__.py", line 1213, in _open
+    return open_func(self.baseFilename, self.mode,
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+PermissionError: [Errno 13] Permission denied: '/tmp/isaaclab/logs/isaaclab_2026-07-08_01-01-27.log'
+Traceback (most recent call last):
+  File "/home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py", line 945, in <module>
+    main()
+  File "/home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py", line 886, in main
+    env = gym.make(args_cli.task, cfg=copy.deepcopy(env_cfg))
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/david/Document/env_isaaclab/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 734, in make
+    env = env_creator(**env_spec_kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/david/Document/IsaacLab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py", line 80, in __init__
+    super().__init__(cfg=cfg)
+  File "/home/david/Document/IsaacLab/source/isaaclab/isaaclab/envs/manager_based_env.py", line 104, in __init__
+    self.sim: SimulationContext = SimulationContext(self.cfg.sim)
+                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/david/Document/IsaacLab/source/isaaclab/isaaclab/sim/simulation_context.py", line 139, in __init__
+    self.logger = configure_logging(
+                  ^^^^^^^^^^^^^^^^^^
+  File "/home/david/Document/IsaacLab/source/isaaclab/isaaclab/utils/logger.py", line 90, in configure_logging
+    file_handler = logging.FileHandler(log_file_path, mode="w", encoding="utf-8")
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/david/.local/share/uv/python/cpython-3.11.15-linux-x86_64-gnu/lib/python3.11/logging/__init__.py", line 1181, in __init__
+    StreamHandler.__init__(self, self._open())
+                                 ^^^^^^^^^^^^
+  File "/home/david/.local/share/uv/python/cpython-3.11.15-linux-x86_64-gnu/lib/python3.11/logging/__init__.py", line 1213, in _open
+    return open_func(self.baseFilename, self.mode,
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+PermissionError: [Errno 13] Permission denied: '/tmp/isaaclab/logs/isaaclab_2026-07-08_01-01-27.log'

rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/files/requirements.txt

@@ -0,0 +1,262 @@
+robopolicy==0.1.0
+psutil==5.9.8
+isaaclab_contrib==0.0.2
+pluggy==1.6.0
+isaaclab_mimic==1.0.16
+stable_baselines3==2.8.0
+Pygments==2.20.0
+typing_extensions==4.15.0
+mdurl==0.1.2
+coverage==7.4.4
+jsonschema-specifications==2025.9.1
+isaacsim-robot-setup==5.1.0.0
+cmeel-qhull==8.0.2.1
+nest-asyncio==1.5.6
+Markdown==3.10.2
+tornado==6.5.1
+gymnasium==1.2.1
+orjson==3.11.9
+moviepy==2.2.1
+pyglet==1.5.31
+isaacsim-test==5.1.0.0
+isaacsim-gui==5.1.0.0
+torch==2.7.0+cu128
+nvidia-cusolver-cu12==11.7.2.55
+isaacsim-cortex==5.1.0.0
+qrcode==7.4.2
+rpds-py==2026.5.1
+async-timeout==5.0.1
+fsspec==2026.4.0
+isaacsim-extscache-kit-sdk==5.1.0.0
+nvidia-curand-cu12==10.3.9.55
+zipp==4.1.0
+huggingface_hub==0.36.2
+importlib_metadata==9.0.0
+isaacsim-example==5.1.0.0
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+comm==0.2.3
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+            - wrist
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+
+========================================================================================================
+[INFO][IsaacLab]: Logging to file: /home/david/.cache/tmp/isaaclab/logs/isaaclab_2026-07-08_16-39-28.log
+========================================================================================================
+
+16:39:28 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
+[INFO]: Base environment:
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+	Environment seed      : None
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+	Rendering step-size   : 0.016666666666666666
+	Environment step-size : 0.016666666666666666
+16:39:29 [xform_prim_view.py] WARNING: Fabric mode with Warp fabric-array operations is not supported on CPU devices. While Fabric itself can run on both CPU and GPU, our batch Warp kernels for fabric-array operations require CUDA and are not reliable on the CPU backend. To ensure stability, Fabric is being disabled and execution will fall back to standard USD operations on the CPU. This may impact performance.
+[INFO]: Time taken for scene creation : 0.534432 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 10
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : ['/World/GroundPlane']
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 4.221717 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
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++--------+-------+-------+
++--------+-------+-------+
+
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++-------------------------------------+
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++--------+----------------------------+
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++--------+----------------------------+
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++---------------------+
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++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++------------------------------------+
+|   Active Action Terms (shape: 7)   |
++-------+----------------+-----------+
+| Index | Name           | Dimension |
++-------+----------------+-----------+
+|   0   | arm_action     |         6 |
+|   1   | gripper_action |         1 |
++-------+----------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'policy' (shape: (39,)) |
++---------+----------------------------------------+---------+
+|  Index  | Name                                   |  Shape  |
++---------+----------------------------------------+---------+
+|    0    | joint_pos                              |   (9,)  |
+|    1    | joint_vel                              |   (9,)  |
+|    2    | cabinet_joint_pos                      |   (1,)  |
+|    3    | cabinet_joint_vel                      |   (1,)  |
+|    4    | charger_pos                            |   (3,)  |
+|    5    | rel_ee_drawer_distance                 |   (3,)  |
+|    6    | rel_ee_charger_distance                |   (3,)  |
+|    7    | rel_charger_drawer_distance            |   (3,)  |
+|    8    | previous_action                        |   (7,)  |
++---------+----------------------------------------+---------+
++-------------------------------------------+
+| Active Observation Terms in Group: 'pose' |
++---------+-----------------------+---------+
+|  Index  | Name                  |  Shape  |
++---------+-----------------------+---------+
+|    0    | ee_pose               |   (7,)  |
+|    1    | gripper_pose          |   (7,)  |
+|    2    | cabinet_pose          |   (7,)  |
+|    3    | left_table_pose       |   (7,)  |
+|    4    | charger_pose          |   (7,)  |
++---------+-----------------------+---------+
++--------------------------------------------------+
+| Active Observation Terms in Group: 'rgb_camera'  |
++----------+-----------------+---------------------+
+|  Index   | Name            |        Shape        |
++----------+-----------------+---------------------+
+|    0     | teleop_cam      |    (256, 256, 3)    |
+|    1     | left_cam        |    (256, 256, 3)    |
+|    2     | right_cam       |    (256, 256, 3)    |
+|    3     | wrist_cam       |    (256, 256, 3)    |
+|    4     | top_cam         |    (256, 256, 3)    |
++----------+-----------------+---------------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | success  |  False   |
+|   1   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 14 active terms.
++----------------------------------------------+
+|             Active Reward Terms              |
++-------+----------------------------+---------+
+| Index | Name                       |  Weight |
++-------+----------------------------+---------+
+|   0   | approach_ee_handle         |     2.0 |
+|   1   | align_ee_handle            |     0.5 |
+|   2   | approach_gripper_handle    |     5.0 |
+|   3   | align_grasp_around_handle  |   0.125 |
+|   4   | grasp_handle               |     0.5 |
+|   5   | open_drawer_bonus          |     7.5 |
+|   6   | multi_stage_open_drawer    |     1.0 |
+|   7   | approach_ee_charger        |     2.0 |
+|   8   | lift_charger               |     4.0 |
+|   9   | charger_to_drawer          |     6.0 |
+|   10  | charger_in_drawer          |     8.0 |
+|   11  | close_drawer_after_charger |    10.0 |
+|   12  | action_rate_l2             |   -0.01 |
+|   13  | joint_vel                  | -0.0001 |
++-------+----------------------------+---------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000)
+[extract_model_images] camera_names=['left', 'wrist'] per_camera_shapes=[(10, 3, 256, 256), (10, 3, 256, 256)] return_shape=(10, 2, 3, 256, 256) dtype=torch.uint8
+[OpenDrawer] stage 1 drawer opened success reached for envs [0]
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+[OpenDrawer] stage 1 drawer opened success reached for envs [2]
+[ckpt_step_0100000] rollout   1/50: success=True steps=839 env=6
+[ckpt_step_0100000] rollout   2/50: success=True steps=895 env=2
+[ckpt_step_0100000] rollout   3/50: success=False steps=1200 env=0
+[ckpt_step_0100000] rollout   4/50: success=False steps=1200 env=1
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+[ckpt_step_0100000] rollout  22/50: success=False steps=1200 env=2
+[ckpt_step_0100000] rollout  23/50: success=True steps=708 env=0
+[ckpt_step_0100000] rollout  24/50: success=True steps=712 env=4
+[ckpt_step_0100000] rollout  25/50: success=True steps=745 env=1
+[ckpt_step_0100000] rollout  26/50: success=False steps=1200 env=3
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+[ckpt_step_0100000] rollout  49/50: success=True steps=623 env=2
+[ckpt_step_0100000] rollout  50/50: success=False steps=1200 env=3

rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_163927-7y7zw6ht/files/requirements.txt

@@ -0,0 +1,262 @@
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rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/results.txt

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+ckpt_step_0020000: step=20000 success_rate=0.3800 success_count=19/50 mean_episode_length=1031.88 stage_drawer_opened=0.7600(38/50) stage_charger_picked=0.4000(20/50) stage_charger_placed=0.4000(20/50) stage_drawer_closed=0.3800(19/50) stage_drawer_opened_conditional=0.7600(38/50) stage_charger_picked_conditional=0.5263(20/38) stage_charger_placed_conditional=1.0000(20/20) stage_drawer_closed_conditional=0.9500(19/20)
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+ckpt_step_0070000: step=70000 success_rate=0.3600 success_count=18/50 mean_episode_length=1021.02 stage_drawer_opened=0.8600(43/50) stage_charger_picked=0.4000(20/50) stage_charger_placed=0.3600(18/50) stage_drawer_closed=0.3600(18/50) stage_drawer_opened_conditional=0.8600(43/50) stage_charger_picked_conditional=0.4651(20/43) stage_charger_placed_conditional=0.9000(18/20) stage_drawer_closed_conditional=1.0000(18/18)
+ckpt_step_0080000: step=80000 success_rate=0.4600 success_count=23/50 mean_episode_length=980.46 stage_drawer_opened=0.8600(43/50) stage_charger_picked=0.5400(27/50) stage_charger_placed=0.5000(25/50) stage_drawer_closed=0.4600(23/50) stage_drawer_opened_conditional=0.8600(43/50) stage_charger_picked_conditional=0.6279(27/43) stage_charger_placed_conditional=0.9259(25/27) stage_drawer_closed_conditional=0.9200(23/25)
+ckpt_step_0090000: step=90000 success_rate=0.2800 success_count=14/50 mean_episode_length=1062.90 stage_drawer_opened=0.8800(44/50) stage_charger_picked=0.4400(22/50) stage_charger_placed=0.3600(18/50) stage_drawer_closed=0.2800(14/50) stage_drawer_opened_conditional=0.8800(44/50) stage_charger_picked_conditional=0.5000(22/44) stage_charger_placed_conditional=0.8182(18/22) stage_drawer_closed_conditional=0.7778(14/18)
+ckpt_final: step=100000 success_rate=0.3800 success_count=19/50 mean_episode_length=1017.30 stage_drawer_opened=0.8000(40/50) stage_charger_picked=0.4600(23/50) stage_charger_placed=0.4200(21/50) stage_drawer_closed=0.3800(19/50) stage_drawer_opened_conditional=0.8000(40/50) stage_charger_picked_conditional=0.5750(23/40) stage_charger_placed_conditional=0.9130(21/23) stage_drawer_closed_conditional=0.9048(19/21)
+ckpt_step_0100000: step=100000 success_rate=0.5000 success_count=25/50 mean_episode_length=961.28 stage_drawer_opened=0.8200(41/50) stage_charger_picked=0.5200(26/50) stage_charger_placed=0.5200(26/50) stage_drawer_closed=0.5000(25/50) stage_drawer_opened_conditional=0.8200(41/50) stage_charger_picked_conditional=0.6341(26/41) stage_charger_placed_conditional=1.0000(26/26) stage_drawer_closed_conditional=0.9615(25/26)

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+        sigma_schedule: constant
+        solver_type: euler
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+dataset:
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+            - wrist
+        data_dir: /home/david/Document/dataset/new_opendrawer_50
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+2026-06-10 07:37:11,770 INFO    MainThread:2615419 [wandb_run.py:_finish():2271] finishing run learn_from_failure_dwu/new_opendrawer_flow/5mxz0kai
+2026-06-10 07:37:11,770 INFO    MainThread:2615419 [wandb_run.py:_atexit_cleanup():2476] got exitcode: 0
+2026-06-10 07:37:11,798 INFO    MainThread:2615419 [wandb_run.py:_restore():2458] restore
+2026-06-10 07:37:11,798 INFO    MainThread:2615419 [wandb_run.py:_restore():2464] restore done
+2026-06-10 07:37:12,532 INFO    MainThread:2615419 [wandb_run.py:_footer_sync_info():3877] logging synced files