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/dev/null +++ b/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: + 8x0pu43m82cxznt96ftcsl9wug0e6vlv: + 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: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..a292741c65f570e0283a6a3b9bba62affb19bf58 --- /dev/null +++ b/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: + 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: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/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 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"videos": [ + "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0053_partial/left.mp4", + "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0053_partial/wrist.mp4" + ] + } + ] + } + ] +} \ No newline at end of file diff --git a/rollouts/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/results.txt b/rollouts/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..48cf7c48b3e58168fe1074fc66ea46413637ce45 --- /dev/null +++ b/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) diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..199621f0b1f6d459f084aaac8d9fb84cf6ec9e5f --- /dev/null +++ b/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 + codePathLocal: scripts/eval/roboticsarmsim_eval.py + cpu_count: 16 + cpu_count_logical: 32 + cudaVersion: "13.0" + disk: + /: + total: "1081101176832" + used: "659822252032" + 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_4_10_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts + startedAt: "2026-06-25T06:03:10.938835Z" + writerId: ttz92zv5hu7a9myg1bmoarlej8uufgip + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_30_stage_4_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_4_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_4_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_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 diff --git a/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/output.log b/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/output.log new file mode 100644 index 0000000000000000000000000000000000000000..d7df45794daa5eb7682ba876b5deecb5cc74566a --- /dev/null +++ b/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/output.log @@ -0,0 +1,1559 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-24_23-03-11.log +====================================================================================== + +23:03:12 [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 +23:03:12 [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 : 0.548787 seconds +[INFO]: Scene manager: + 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 : 4.203063 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0010000.pt (step=10000) +[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 [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 [6] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[ckpt_step_0010000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 11/50: success=True steps=610 env=2 +[ckpt_step_0010000] rollout 12/50: success=True steps=652 env=0 +[ckpt_step_0010000] rollout 13/50: success=True steps=718 env=3 +[ckpt_step_0010000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 15/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 21/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 22/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 23/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 24/50: success=True steps=770 env=1 +[ckpt_step_0010000] rollout 25/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 26/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 27/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 31/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 32/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 33/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 34/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 35/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 36/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 37/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 38/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 41/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 42/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 43/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 44/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 45/50: success=True steps=951 env=6 +[ckpt_step_0010000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 47/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 48/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0020000.pt (step=20000) +[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 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 [1, 4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[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 [6] +[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 [9] +[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 [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[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 [9] +[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 [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[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 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[ckpt_step_0020000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 11/50: success=True steps=857 env=2 +[ckpt_step_0020000] rollout 12/50: success=True steps=917 env=1 +[ckpt_step_0020000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 14/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 15/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 21/50: success=True steps=751 env=6 +[ckpt_step_0020000] rollout 22/50: success=True steps=770 env=9 +[ckpt_step_0020000] rollout 23/50: success=True steps=834 env=8 +[ckpt_step_0020000] rollout 24/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 26/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 27/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 28/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 29/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 30/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 31/50: success=True steps=766 env=6 +[ckpt_step_0020000] rollout 32/50: success=True steps=686 env=1 +[ckpt_step_0020000] rollout 33/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 34/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 35/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 36/50: success=True steps=944 env=7 +[ckpt_step_0020000] rollout 37/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 38/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 39/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 40/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 41/50: success=True steps=608 env=9 +[ckpt_step_0020000] rollout 42/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 43/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 44/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 45/50: success=True steps=853 env=5 +[ckpt_step_0020000] rollout 46/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 47/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 48/50: success=True steps=647 env=1 +[ckpt_step_0020000] rollout 49/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 50/50: success=False steps=1200 env=3 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0030000.pt (step=30000) +[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, 4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5, 6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up 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 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[ckpt_step_0030000] rollout 1/50: success=True steps=823 env=3 +[ckpt_step_0030000] rollout 2/50: success=True steps=1068 env=4 +[ckpt_step_0030000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 4/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 5/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 11/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 12/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 21/50: success=True steps=821 env=4 +[ckpt_step_0030000] rollout 22/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 23/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 25/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 26/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 27/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 31/50: success=True steps=633 env=2 +[ckpt_step_0030000] rollout 32/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 33/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 34/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 35/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 36/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 37/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 38/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 41/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 42/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 43/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 44/50: success=True steps=848 env=7 +[ckpt_step_0030000] rollout 45/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 46/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 47/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 48/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0040000.pt (step=40000) +[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 [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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3, 5] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[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 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[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 [2] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[ckpt_step_0040000] rollout 1/50: success=True steps=662 env=8 +[ckpt_step_0040000] rollout 2/50: success=True steps=712 env=3 +[ckpt_step_0040000] rollout 3/50: success=True steps=712 env=5 +[ckpt_step_0040000] rollout 4/50: success=True steps=789 env=6 +[ckpt_step_0040000] rollout 5/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 6/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 7/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 8/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 11/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 12/50: success=True steps=685 env=2 +[ckpt_step_0040000] rollout 13/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 14/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 15/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 16/50: success=True steps=823 env=1 +[ckpt_step_0040000] rollout 17/50: success=True steps=905 env=7 +[ckpt_step_0040000] rollout 18/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 19/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 21/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 22/50: success=True steps=680 env=0 +[ckpt_step_0040000] rollout 23/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 24/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 25/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 26/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 27/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 29/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 31/50: success=True steps=763 env=3 +[ckpt_step_0040000] rollout 32/50: success=True steps=708 env=6 +[ckpt_step_0040000] rollout 33/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 34/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 35/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 36/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 37/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 38/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 39/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 41/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 42/50: success=True steps=785 env=5 +[ckpt_step_0040000] rollout 43/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 44/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 45/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 46/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 47/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 48/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 49/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0050000.pt (step=50000) +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up 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 [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[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 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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [9] +[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 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[ckpt_step_0050000] rollout 1/50: success=True steps=677 env=6 +[ckpt_step_0050000] rollout 2/50: success=True steps=721 env=7 +[ckpt_step_0050000] rollout 3/50: success=True steps=725 env=5 +[ckpt_step_0050000] rollout 4/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 5/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 6/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 7/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 8/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 11/50: success=True steps=719 env=6 +[ckpt_step_0050000] rollout 12/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 13/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 14/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 15/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 16/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 17/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 18/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 21/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 22/50: success=True steps=779 env=7 +[ckpt_step_0050000] rollout 23/50: success=True steps=564 env=9 +[ckpt_step_0050000] rollout 24/50: success=True steps=716 env=4 +[ckpt_step_0050000] rollout 25/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 26/50: success=True steps=863 env=8 +[ckpt_step_0050000] rollout 27/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 28/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 29/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 30/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 31/50: success=True steps=706 env=9 +[ckpt_step_0050000] rollout 32/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 33/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 34/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 35/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 36/50: success=True steps=788 env=3 +[ckpt_step_0050000] rollout 37/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 38/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 39/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 40/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 41/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 42/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 43/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 44/50: success=True steps=959 env=8 +[ckpt_step_0050000] rollout 45/50: success=True steps=692 env=0 +[ckpt_step_0050000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 47/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 48/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 49/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 50/50: success=False steps=1200 env=2 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0060000.pt (step=60000) +[OpenDrawer] stage 1 drawer opened success reached for envs [2, 9] +[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 [0] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[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 [3] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside 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 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[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 [7] +[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 [6] +[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 [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[ckpt_step_0060000] rollout 1/50: success=True steps=641 env=7 +[ckpt_step_0060000] rollout 2/50: success=True steps=657 env=5 +[ckpt_step_0060000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 4/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 5/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 6/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 7/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 11/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 12/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 13/50: success=True steps=854 env=4 +[ckpt_step_0060000] rollout 14/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 15/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 16/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 17/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 21/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 22/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 23/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 24/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 26/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 27/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 31/50: success=True steps=796 env=5 +[ckpt_step_0060000] rollout 32/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 33/50: success=True steps=703 env=0 +[ckpt_step_0060000] rollout 34/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 35/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 36/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 37/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 38/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 41/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 42/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 43/50: success=True steps=702 env=2 +[ckpt_step_0060000] rollout 44/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 45/50: success=True steps=728 env=1 +[ckpt_step_0060000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 47/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 48/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0070000.pt (step=70000) +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3, 8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[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 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[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 [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[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 [5, 8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened 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 [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [4] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[ckpt_step_0070000] rollout 1/50: success=True steps=710 env=7 +[ckpt_step_0070000] rollout 2/50: success=True steps=896 env=1 +[ckpt_step_0070000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 11/50: success=True steps=832 env=7 +[ckpt_step_0070000] rollout 12/50: success=True steps=1139 env=1 +[ckpt_step_0070000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 17/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 21/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 22/50: success=True steps=785 env=0 +[ckpt_step_0070000] rollout 23/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 24/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 25/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 26/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 31/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 32/50: success=True steps=889 env=0 +[ckpt_step_0070000] rollout 33/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 34/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 35/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 36/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 38/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 41/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 42/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 43/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 44/50: success=True steps=957 env=2 +[ckpt_step_0070000] rollout 45/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 47/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 48/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0080000.pt (step=80000) +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up 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 [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[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 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[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 [6] +[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 [1] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[ckpt_step_0080000] rollout 1/50: success=True steps=775 env=7 +[ckpt_step_0080000] rollout 2/50: success=True steps=812 env=4 +[ckpt_step_0080000] rollout 3/50: success=True steps=862 env=0 +[ckpt_step_0080000] rollout 4/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 5/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 6/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 11/50: success=True steps=688 env=7 +[ckpt_step_0080000] rollout 12/50: success=True steps=577 env=5 +[ckpt_step_0080000] rollout 13/50: success=True steps=689 env=9 +[ckpt_step_0080000] rollout 14/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 15/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 16/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 17/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 18/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 19/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 21/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 22/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 23/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 24/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 25/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 26/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 27/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 28/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 31/50: success=True steps=610 env=4 +[ckpt_step_0080000] rollout 32/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 33/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 34/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 35/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 36/50: success=True steps=709 env=7 +[ckpt_step_0080000] rollout 37/50: success=True steps=1096 env=1 +[ckpt_step_0080000] rollout 38/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 39/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 40/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 41/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 42/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 43/50: success=True steps=624 env=7 +[ckpt_step_0080000] rollout 44/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 45/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 46/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 47/50: success=True steps=945 env=2 +[ckpt_step_0080000] rollout 48/50: success=True steps=1082 env=6 +[ckpt_step_0080000] rollout 49/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 50/50: success=False steps=1200 env=3 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0090000.pt (step=90000) +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer 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 [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[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 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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 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 [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[ckpt_step_0090000] rollout 1/50: success=True steps=675 env=6 +[ckpt_step_0090000] rollout 2/50: success=True steps=713 env=7 +[ckpt_step_0090000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 4/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 5/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 6/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 7/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 8/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 11/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 12/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 13/50: success=True steps=801 env=5 +[ckpt_step_0090000] rollout 14/50: success=True steps=1112 env=3 +[ckpt_step_0090000] rollout 15/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 16/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 17/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 18/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 21/50: success=True steps=802 env=7 +[ckpt_step_0090000] rollout 22/50: success=True steps=661 env=9 +[ckpt_step_0090000] rollout 23/50: success=True steps=671 env=8 +[ckpt_step_0090000] rollout 24/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 25/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 26/50: success=True steps=880 env=4 +[ckpt_step_0090000] rollout 27/50: success=True steps=982 env=1 +[ckpt_step_0090000] rollout 28/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 29/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 30/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 31/50: success=True steps=1150 env=7 +[ckpt_step_0090000] rollout 32/50: success=True steps=827 env=1 +[ckpt_step_0090000] rollout 33/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 34/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 35/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 36/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 37/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 38/50: success=True steps=735 env=7 +[ckpt_step_0090000] rollout 39/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 40/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 41/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 42/50: success=True steps=628 env=9 +[ckpt_step_0090000] rollout 43/50: success=True steps=713 env=1 +[ckpt_step_0090000] rollout 44/50: success=True steps=641 env=4 +[ckpt_step_0090000] rollout 45/50: success=True steps=845 env=7 +[ckpt_step_0090000] rollout 46/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 47/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 48/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 49/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 50/50: success=False steps=1200 env=0 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_final.pt (step=100000) +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7, 9] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [4] +[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 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[ckpt_final] rollout 1/50: success=True steps=1191 env=2 +[ckpt_final] rollout 2/50: success=False steps=1200 env=0 +[ckpt_final] rollout 3/50: success=False steps=1200 env=1 +[ckpt_final] rollout 4/50: success=False steps=1200 env=3 +[ckpt_final] rollout 5/50: success=False steps=1200 env=4 +[ckpt_final] rollout 6/50: success=False steps=1200 env=5 +[ckpt_final] rollout 7/50: success=False steps=1200 env=6 +[ckpt_final] rollout 8/50: success=False steps=1200 env=7 +[ckpt_final] rollout 9/50: success=False steps=1200 env=8 +[ckpt_final] rollout 10/50: success=False steps=1200 env=9 +[ckpt_final] rollout 11/50: success=True steps=735 env=4 +[ckpt_final] rollout 12/50: success=True steps=786 env=6 +[ckpt_final] rollout 13/50: success=False steps=1200 env=2 +[ckpt_final] rollout 14/50: success=False steps=1200 env=0 +[ckpt_final] rollout 15/50: success=False steps=1200 env=1 +[ckpt_final] rollout 16/50: success=False steps=1200 env=3 +[ckpt_final] rollout 17/50: success=False steps=1200 env=5 +[ckpt_final] rollout 18/50: success=False steps=1200 env=7 +[ckpt_final] rollout 19/50: success=False steps=1200 env=8 +[ckpt_final] rollout 20/50: success=False steps=1200 env=9 +[ckpt_final] rollout 21/50: success=True steps=677 env=2 +[ckpt_final] rollout 22/50: success=False steps=1200 env=4 +[ckpt_final] rollout 23/50: success=False steps=1200 env=6 +[ckpt_final] rollout 24/50: success=False steps=1200 env=0 +[ckpt_final] rollout 25/50: success=False steps=1200 env=1 +[ckpt_final] rollout 26/50: success=False steps=1200 env=3 +[ckpt_final] rollout 27/50: success=False steps=1200 env=5 +[ckpt_final] rollout 28/50: success=False steps=1200 env=7 +[ckpt_final] rollout 29/50: success=False steps=1200 env=8 +[ckpt_final] rollout 30/50: success=False steps=1200 env=9 +[ckpt_final] rollout 31/50: success=True steps=621 env=8 +[ckpt_final] rollout 32/50: success=False steps=1200 env=2 +[ckpt_final] rollout 33/50: success=True steps=708 env=1 +[ckpt_final] rollout 34/50: success=False steps=1200 env=4 +[ckpt_final] rollout 35/50: success=False steps=1200 env=6 +[ckpt_final] rollout 36/50: success=True steps=922 env=0 +[ckpt_final] rollout 37/50: success=False steps=1200 env=3 +[ckpt_final] rollout 38/50: success=False steps=1200 env=5 +[ckpt_final] rollout 39/50: success=False steps=1200 env=7 +[ckpt_final] rollout 40/50: success=False steps=1200 env=9 +[ckpt_final] rollout 41/50: success=True steps=837 env=4 +[ckpt_final] rollout 42/50: success=False steps=1200 env=8 +[ckpt_final] rollout 43/50: success=False steps=1200 env=2 +[ckpt_final] rollout 44/50: success=False steps=1200 env=1 +[ckpt_final] rollout 45/50: success=False steps=1200 env=6 +[ckpt_final] rollout 46/50: success=False steps=1200 env=0 +[ckpt_final] rollout 47/50: success=False steps=1200 env=3 +[ckpt_final] rollout 48/50: success=False steps=1200 env=5 +[ckpt_final] rollout 49/50: success=False steps=1200 env=7 +[ckpt_final] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_stage_4_10_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +[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 [0] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened 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 [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened 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 [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[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, 6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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=True steps=683 env=4 +[ckpt_step_0100000] rollout 12/50: success=True steps=821 env=8 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 21/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 22/50: success=True steps=703 env=0 +[ckpt_step_0100000] rollout 23/50: success=True steps=776 env=2 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 31/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=3 +[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=7 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 41/50: success=True steps=727 env=2 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 49/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=9 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/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 @@ -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 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 +gunicorn==23.0.0 +transformers==4.57.6 +omegaconf==2.3.0 +contourpy==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +azure-storage-blob==12.17.0 +ray==2.52.1 +tqdm==4.67.3 +PyYAML==6.0.2 +qdldl==0.1.7.post5 +gitdb==4.0.12 +qpsolvers==4.12.0 +wheel==0.47.0 +fastapi==0.115.7 +nvidia-cudnn-cu12==9.7.1.26 +sympy==1.14.0 +kiwisolver==1.4.4 +isaacsim-ros2==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.8.61 +aioboto3==15.1.0 +wandb==0.27.0 +numpy==1.26.4 +protobuf==7.35.0 +torchaudio==2.7.0 +nvidia-cufile-cu12==1.13.0.11 +certifi==2026.5.20 +attrs==25.1.0 +urllib3==2.7.0 +iniconfig==2.3.0 +cryptography==44.0.0 +isaacsim-replicator==5.1.0.0 +pytransform3d==3.15.0 +MarkupSafe==3.0.3 +opencv-python-headless==4.11.0.86 +setproctitle==1.3.7 +isaacsim-utils==5.1.0.0 +ptyprocess==0.7.0 +flatdict==4.1.0 +isaacsim-asset==5.1.0.0 +cffi==2.0.0 +skrl==2.1.0 +loop-rate-limiters==1.2.0 +nvidia-cublas-cu12==12.8.3.14 +GitPython==3.1.50 +Jinja2==3.1.6 +cmeel-urdfdom==3.1.1.1 +proglog==0.1.12 +isaaclab_rl==0.5.1 +s3transfer==0.13.1 +pin==2.7.0 +h5py==3.16.0 +widgetsnbextension==4.0.15 +decorator==5.3.1 +mpmath==1.3.0 +triton==3.3.0 +oauthlib==3.2.2 +Farama-Notifications==0.0.6 +llvmlite==0.42.0 +prompt_toolkit==3.0.52 +onnx-ir==0.2.1 +matplotlib==3.10.3 +einops==0.8.2 +warp-lang==1.13.0 +requests-oauthlib==1.3.1 +pypng==0.20220715.0 +pure_eval==0.2.3 +antlr4-python3-runtime==4.9.3 +matplotlib-inline==0.2.2 +ipywidgets==8.1.5 +safetensors==0.7.0 +flaky==3.8.1 +six==1.17.0 +idna==3.10 +nvidia-nccl-cu12==2.26.2 +dex_retargeting==0.4.6 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..c5b7d0d07196505b361117bcfd41891f1dbd9969 --- /dev/null +++ b/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 @@ -0,0 +1,56 @@ +{ + "os": "Linux-7.0.0-22-generic-x86_64-with-glibc2.43", + "python": "CPython 3.11.15", + "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", + "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" + ], + "program": "/home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py", + "codePath": "scripts/eval/roboticsarmsim_eval.py", + "codePathLocal": "scripts/eval/roboticsarmsim_eval.py", + "git": { + "remote": "git@github.com:YixiaoWang7/robopolicy.git", + "commit": "d323bc5b083a667adf8a659e6a042c0f96948892" + }, + "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", + "executable": "/home/david/Document/env_isaaclab/bin/python", + "cpu_count": 16, + "cpu_count_logical": 32, + "gpu": "NVIDIA GeForce RTX 5090", + "gpu_count": 1, + "disk": { + "/": { + "total": "1081101176832", + "used": "659822252032" + } + }, + "memory": { + "total": "65677729792" + }, + "gpu_nvidia": [ + { + "name": "NVIDIA GeForce RTX 5090", + "memoryTotal": "34190917632", + "cudaCores": 21760, + "architecture": "Blackwell", + "uuid": "GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b" + } + ], + "cudaVersion": "13.0", + "writerId": "ttz92zv5hu7a9myg1bmoarlej8uufgip" +} \ No newline at end of file diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..f84e742fc11b4052dcef9b2a2171af0aeaa4a409 --- /dev/null +++ b/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 @@ -0,0 +1 @@ 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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 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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 diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_095049-v10mloh6/files/output.log b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_095049-v10mloh6/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..ec9ca256968c6b9c8b3b6300608456e0918afd31 --- /dev/null +++ b/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: + 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: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [9] +[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 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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened 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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[ckpt_step_0100000] rollout 1/50: success=True steps=748 env=9 +[ckpt_step_0100000] rollout 2/50: success=True steps=964 env=5 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 11/50: success=True steps=935 env=9 +[ckpt_step_0100000] rollout 12/50: success=True steps=671 env=0 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 21/50: success=True steps=634 env=5 +[ckpt_step_0100000] rollout 22/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 23/50: success=True steps=626 env=8 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 31/50: success=True steps=751 env=0 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 35/50: success=True steps=711 env=3 +[ckpt_step_0100000] rollout 36/50: success=True steps=691 env=5 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 41/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 42/50: success=True steps=718 env=9 +[ckpt_step_0100000] rollout 43/50: success=True steps=742 env=8 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 45/50: success=True steps=585 env=9 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 47/50: success=True steps=617 env=0 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 49/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=2 diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_095049-v10mloh6/files/requirements.txt b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_095049-v10mloh6/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/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 @@ +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 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 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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/left.mp4", + "/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" + ] + } + ] + } + ] +} \ No newline at end of file diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/results.txt b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..e457e5eaa24ed20f736609af6e409d09d8317bc0 --- /dev/null +++ b/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) diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/files/config.yaml b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c69f8a95493cd610a0abf2b46519eafacea5fec5 --- /dev/null +++ b/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 diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/files/output.log b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..b9059195324200c4423fd756eab4165b855423a1 --- /dev/null +++ b/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 + 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 + 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' diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/files/requirements.txt b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/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 +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 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+gunicorn==23.0.0 +transformers==4.57.6 +omegaconf==2.3.0 +contourpy==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +azure-storage-blob==12.17.0 +ray==2.52.1 +tqdm==4.67.3 +PyYAML==6.0.2 +qdldl==0.1.7.post5 +gitdb==4.0.12 +qpsolvers==4.12.0 +wheel==0.47.0 +fastapi==0.115.7 +nvidia-cudnn-cu12==9.7.1.26 +sympy==1.14.0 +kiwisolver==1.4.4 +isaacsim-ros2==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.8.61 +aioboto3==15.1.0 +wandb==0.27.0 +numpy==1.26.4 +protobuf==7.35.0 +torchaudio==2.7.0 +nvidia-cufile-cu12==1.13.0.11 +certifi==2026.5.20 +attrs==25.1.0 +urllib3==2.7.0 +iniconfig==2.3.0 +cryptography==44.0.0 +isaacsim-replicator==5.1.0.0 +pytransform3d==3.15.0 +MarkupSafe==3.0.3 +opencv-python-headless==4.11.0.86 +setproctitle==1.3.7 +isaacsim-utils==5.1.0.0 +ptyprocess==0.7.0 +flatdict==4.1.0 +isaacsim-asset==5.1.0.0 +cffi==2.0.0 +skrl==2.1.0 +loop-rate-limiters==1.2.0 +nvidia-cublas-cu12==12.8.3.14 +GitPython==3.1.50 +Jinja2==3.1.6 +cmeel-urdfdom==3.1.1.1 +proglog==0.1.12 +isaaclab_rl==0.5.1 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/home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/logs/debug.log +2026-07-08 01:01:26,788 INFO MainThread:228867 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/logs/debug-internal.log +2026-07-08 01:01:26,788 INFO MainThread:228867 [wandb_init.py:init():851] calling init triggers +2026-07-08 01:01:26,788 INFO MainThread:228867 [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_45_vig_dagger_th3_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_45_vig_dagger_th3_split_sd0_flow_train', 'wandb': {'enabled': True, 'project': 'new_opendrawer_dagger', 'entity': 'learn_from_failure_dwu', 'run_name': 'sd0_new_opendrawer_45_vig_dagger_th3_split_sd0'}}, 'roboticsarmsim_eval': {'checkpoint_dir': '/home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_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', 'vig': False, 'vig_threshold': 0.03, 'vig_k': 1, 'vig_decision_cadence': 'step', 'vig_factors': [1, 2, 4, 8], 'vig_num_samples': 32, 'vig_feature': 'full_flat', 'vig_first_k': 16, 'vig_action_factor': 1, 'vig_action_sample_index': 0}, '_wandb': {}} +2026-07-08 01:01:26,788 INFO MainThread:228867 [wandb_init.py:init():899] starting backend +2026-07-08 01:01:27,009 INFO MainThread:228867 [wandb_init.py:init():914] sending inform_init request +2026-07-08 01:01:27,226 INFO MainThread:228867 [wandb_init.py:init():919] backend started and connected +2026-07-08 01:01:27,227 INFO MainThread:228867 [wandb_init.py:init():989] updated telemetry +2026-07-08 01:01:27,231 INFO MainThread:228867 [wandb_init.py:init():1012] communicating run to backend with 90.0 second timeout +2026-07-08 01:01:27,472 INFO MainThread:228867 [wandb_init.py:init():1057] starting run threads in backend +2026-07-08 01:01:27,618 INFO MainThread:228867 [wandb_run.py:_console_start():2509] atexit reg +2026-07-08 01:01:27,618 INFO MainThread:228867 [wandb_run.py:_redirect():2359] redirect: wrap_raw +2026-07-08 01:01:27,618 INFO MainThread:228867 [wandb_run.py:_redirect():2428] Wrapping output streams. +2026-07-08 01:01:27,618 INFO MainThread:228867 [wandb_run.py:_redirect():2451] Redirects installed. +2026-07-08 01:01:27,619 INFO MainThread:228867 [wandb_init.py:init():1095] run started, returning control to user process +2026-07-08 01:01:27,655 INFO wandb-AsyncioManager-main:228867 [service_client.py:_forward_responses():122] Reached EOF. +2026-07-08 01:01:27,655 INFO wandb-AsyncioManager-main:228867 [mailbox.py:close():154] Closing mailbox, abandoning 1 handles. diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/run-n83s08ey.wandb b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/run-n83s08ey.wandb new file mode 100644 index 0000000000000000000000000000000000000000..24fc9a23c0d71e2d6483f277bfdb7d1ad86f050e Binary files /dev/null and b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_010126-n83s08ey/run-n83s08ey.wandb differ diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_163927-7y7zw6ht/files/config.yaml b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_163927-7y7zw6ht/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d3e92521bbea35c61d9c7ab17b4933661ca3f664 --- /dev/null +++ b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_163927-7y7zw6ht/files/config.yaml @@ -0,0 +1,261 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + kmkc03cz7edfze0pa9mljuo1ljhtb6sd: + 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 + cpu_count: 16 + cpu_count_logical: 32 + cudaVersion: "13.0" + disk: + /: + total: "1081101176832" + used: "910623051776" + email: chengenwu@berkeley.edu + executable: /home/david/Document/env_isaaclab/bin/python + git: + commit: cfc224a87241d6d5ad51e57357d686ca654de8df + 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_split_sd0_flow_train/sd0_50_rollouts + startedAt: "2026-07-08T23:39:27.924790Z" + writerId: kmkc03cz7edfze0pa9mljuo1ljhtb6sd + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_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 diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_163927-7y7zw6ht/files/output.log b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_163927-7y7zw6ht/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..8e0cf3818e90ee7b98f95cd426bbeb96a978b90c --- /dev/null +++ b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_163927-7y7zw6ht/files/output.log @@ -0,0 +1,282 @@ +[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_2026-07-08_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: + Environment device : cpu + Environment seed : None + Physics step-size : 0.016666666666666666 + 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: + 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: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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] +[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 [6] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer 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success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[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 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=5 +[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=True steps=678 env=2 +[ckpt_step_0100000] rollout 12/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=5 +[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=True steps=682 env=6 +[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 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=5 +[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=690 env=0 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 36/50: success=True steps=821 env=8 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 41/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 42/50: success=True steps=673 env=8 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 47/50: success=True steps=666 env=0 +[ckpt_step_0100000] rollout 48/50: success=True steps=600 env=8 +[ckpt_step_0100000] rollout 49/50: success=True steps=623 env=2 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=3 diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_163927-7y7zw6ht/files/requirements.txt b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260708_163927-7y7zw6ht/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/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 @@ +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 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 +gunicorn==23.0.0 +transformers==4.57.6 +omegaconf==2.3.0 +contourpy==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +azure-storage-blob==12.17.0 +ray==2.52.1 +tqdm==4.67.3 +PyYAML==6.0.2 +qdldl==0.1.7.post5 +gitdb==4.0.12 +qpsolvers==4.12.0 +wheel==0.47.0 +fastapi==0.115.7 +nvidia-cudnn-cu12==9.7.1.26 +sympy==1.14.0 +kiwisolver==1.4.4 +isaacsim-ros2==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.8.61 +aioboto3==15.1.0 +wandb==0.27.0 +numpy==1.26.4 +protobuf==7.35.0 +torchaudio==2.7.0 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"/home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0056_partial", + "videos": [ + "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0056_partial/left.mp4", + "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0056_partial/wrist.mp4" + ] + }, + { + "rollout_idx": 57, + "env_id": 7, + "video_dir": "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0057_partial", + "videos": [ + "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0057_partial/left.mp4", + "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0057_partial/wrist.mp4" + ] + }, + { + "rollout_idx": 58, + "env_id": 8, + "video_dir": "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0058_partial", + "videos": [ + "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0058_partial/left.mp4", + "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0058_partial/wrist.mp4" + ] + } + ] + } + ] +} \ No newline at end of file diff --git a/rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/results.txt b/rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..c7d28c3f94046f3848078cbaa25449d076bd2687 --- /dev/null +++ b/rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/results.txt @@ -0,0 +1,14 @@ +task=OpenDrawer-ManagerBased-v0 +num_checkpoints=11 + +ckpt_step_0010000: step=10000 success_rate=0.0000 success_count=0/50 mean_episode_length=1200.00 stage_drawer_opened=0.6000(30/50) stage_charger_picked=0.0600(3/50) stage_charger_placed=0.0200(1/50) stage_drawer_closed=0.0000(0/50) stage_drawer_opened_conditional=0.6000(30/50) stage_charger_picked_conditional=0.1000(3/30) stage_charger_placed_conditional=0.3333(1/3) stage_drawer_closed_conditional=0.0000(0/1) +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) +ckpt_step_0030000: step=30000 success_rate=0.2800 success_count=14/50 mean_episode_length=1076.08 stage_drawer_opened=0.9400(47/50) stage_charger_picked=0.3200(16/50) stage_charger_placed=0.2800(14/50) stage_drawer_closed=0.2800(14/50) stage_drawer_opened_conditional=0.9400(47/50) stage_charger_picked_conditional=0.3404(16/47) stage_charger_placed_conditional=0.8750(14/16) stage_drawer_closed_conditional=1.0000(14/14) +ckpt_step_0040000: step=40000 success_rate=0.4000 success_count=20/50 mean_episode_length=1004.02 stage_drawer_opened=0.9200(46/50) stage_charger_picked=0.4400(22/50) stage_charger_placed=0.4200(21/50) stage_drawer_closed=0.4000(20/50) stage_drawer_opened_conditional=0.9200(46/50) stage_charger_picked_conditional=0.4783(22/46) stage_charger_placed_conditional=0.9545(21/22) stage_drawer_closed_conditional=0.9524(20/21) +ckpt_step_0050000: step=50000 success_rate=0.5000 success_count=25/50 mean_episode_length=973.98 stage_drawer_opened=0.9200(46/50) stage_charger_picked=0.5800(29/50) stage_charger_placed=0.5600(28/50) stage_drawer_closed=0.5000(25/50) stage_drawer_opened_conditional=0.9200(46/50) stage_charger_picked_conditional=0.6304(29/46) stage_charger_placed_conditional=0.9655(28/29) stage_drawer_closed_conditional=0.8929(25/28) +ckpt_step_0060000: step=60000 success_rate=0.3800 success_count=19/50 mean_episode_length=1025.84 stage_drawer_opened=0.8800(44/50) stage_charger_picked=0.4400(22/50) stage_charger_placed=0.4200(21/50) stage_drawer_closed=0.3800(19/50) stage_drawer_opened_conditional=0.8800(44/50) stage_charger_picked_conditional=0.5000(22/44) stage_charger_placed_conditional=0.9545(21/22) stage_drawer_closed_conditional=0.9048(19/21) +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) diff --git a/rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/wandb/run-20260610_044158-5mxz0kai/files/config.yaml b/rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/wandb/run-20260610_044158-5mxz0kai/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..33d2a78d5201dc0b9e99baaa6538e676d1d29bf5 --- /dev/null +++ b/rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/wandb/run-20260610_044158-5mxz0kai/files/config.yaml @@ -0,0 +1,247 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + pcqjsn5fzc71tf08sm44rwgs65xn3cng: + 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_50_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd0_new_opendrawer_50_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: "297538424832" + email: chengenwu@berkeley.edu + executable: /home/david/Document/env_isaaclab/bin/python + git: + commit: 1bb39deb18a25f1eab122cdedfbca898baff4d4a + 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_50_flow_train/sd0_50_rollouts + startedAt: "2026-06-10T11:41:58.045851Z" + writerId: pcqjsn5fzc71tf08sm44rwgs65xn3cng + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_50 + 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_50_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_flow + run_name: sd0_new_opendrawer_50 +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: + - 256 + - 512 + - 1024 + 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_50_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 diff --git a/rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/wandb/run-20260610_044158-5mxz0kai/files/output.log b/rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/wandb/run-20260610_044158-5mxz0kai/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..c2b0905aa982498e36f0881cb77ec9a060f6eb9f --- /dev/null +++ b/rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/wandb/run-20260610_044158-5mxz0kai/files/output.log @@ -0,0 +1,1875 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-10_04-41-58.log +====================================================================================== + +04:41:58 [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 +04:41:59 [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 : 0.532919 seconds +[INFO]: Scene manager: + 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 : 4.181868 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: 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_50_flow_train/checkpoints/ckpt_step_0010000.pt (step=10000) +[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 [6] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[ckpt_step_0010000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 11/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 12/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 13/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 14/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 15/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 21/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 22/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 23/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 24/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 25/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 26/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 27/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 31/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 32/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 33/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 34/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 35/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 36/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 37/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 38/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 41/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 42/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 43/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 44/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 45/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 46/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 47/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 48/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/checkpoints/ckpt_step_0020000.pt (step=20000) +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[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 [3, 6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[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 [9] +[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 [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[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 [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer 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 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer 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 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[ckpt_step_0020000] rollout 1/50: success=True steps=697 env=3 +[ckpt_step_0020000] rollout 2/50: success=True steps=746 env=4 +[ckpt_step_0020000] rollout 3/50: success=True steps=1109 env=0 +[ckpt_step_0020000] rollout 4/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 5/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 11/50: success=True steps=684 env=0 +[ckpt_step_0020000] rollout 12/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 13/50: success=True steps=699 env=9 +[ckpt_step_0020000] rollout 14/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 15/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 16/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 17/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 21/50: success=True steps=700 env=0 +[ckpt_step_0020000] rollout 22/50: success=True steps=623 env=9 +[ckpt_step_0020000] rollout 23/50: success=True steps=805 env=4 +[ckpt_step_0020000] rollout 24/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 25/50: success=True steps=654 env=0 +[ckpt_step_0020000] rollout 26/50: success=True steps=782 env=6 +[ckpt_step_0020000] rollout 27/50: success=True steps=720 env=4 +[ckpt_step_0020000] rollout 28/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 29/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 30/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 31/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 32/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 33/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 34/50: success=True steps=656 env=3 +[ckpt_step_0020000] rollout 35/50: success=True steps=819 env=0 +[ckpt_step_0020000] rollout 36/50: success=True steps=731 env=4 +[ckpt_step_0020000] rollout 37/50: success=True steps=682 env=2 +[ckpt_step_0020000] rollout 38/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 39/50: success=True steps=851 env=5 +[ckpt_step_0020000] rollout 40/50: success=True steps=793 env=3 +[ckpt_step_0020000] rollout 41/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 42/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 43/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 44/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 45/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 46/50: success=True steps=1012 env=6 +[ckpt_step_0020000] rollout 47/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 48/50: success=True steps=631 env=7 +[ckpt_step_0020000] rollout 49/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 50/50: success=False steps=1200 env=5 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/checkpoints/ckpt_step_0030000.pt (step=30000) +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [5] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8, 9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[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 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up 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 [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[ckpt_step_0030000] rollout 1/50: success=True steps=920 env=2 +[ckpt_step_0030000] rollout 2/50: success=True steps=1134 env=0 +[ckpt_step_0030000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 11/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 12/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 14/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 15/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 21/50: success=True steps=741 env=9 +[ckpt_step_0030000] rollout 22/50: success=True steps=767 env=8 +[ckpt_step_0030000] rollout 23/50: success=True steps=864 env=3 +[ckpt_step_0030000] rollout 24/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 25/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 26/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 28/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 30/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 31/50: success=True steps=731 env=3 +[ckpt_step_0030000] rollout 32/50: success=True steps=863 env=9 +[ckpt_step_0030000] rollout 33/50: success=True steps=667 env=4 +[ckpt_step_0030000] rollout 34/50: success=True steps=694 env=7 +[ckpt_step_0030000] rollout 35/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 36/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 37/50: success=True steps=654 env=9 +[ckpt_step_0030000] rollout 38/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 39/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 40/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 41/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 42/50: success=True steps=650 env=4 +[ckpt_step_0030000] rollout 43/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 44/50: success=True steps=703 env=9 +[ckpt_step_0030000] rollout 45/50: success=True steps=641 env=0 +[ckpt_step_0030000] rollout 46/50: success=True steps=575 env=4 +[ckpt_step_0030000] rollout 47/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 48/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 49/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 50/50: success=False steps=1200 env=1 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/checkpoints/ckpt_step_0040000.pt (step=40000) +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [0] +[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] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer 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 [3] +[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 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened 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 [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 4 drawer closed with charger inside success reached for envs [4] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up 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 [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[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 2 charger picked up success reached for envs [1] +[ckpt_step_0040000] rollout 1/50: success=True steps=661 env=8 +[ckpt_step_0040000] rollout 2/50: success=True steps=665 env=3 +[ckpt_step_0040000] rollout 3/50: success=True steps=687 env=5 +[ckpt_step_0040000] rollout 4/50: success=True steps=716 env=9 +[ckpt_step_0040000] rollout 5/50: success=True steps=744 env=6 +[ckpt_step_0040000] rollout 6/50: success=True steps=892 env=1 +[ckpt_step_0040000] rollout 7/50: success=True steps=934 env=7 +[ckpt_step_0040000] rollout 8/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 9/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 10/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 11/50: success=True steps=650 env=5 +[ckpt_step_0040000] rollout 12/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 13/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 14/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 15/50: success=True steps=724 env=4 +[ckpt_step_0040000] rollout 16/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 17/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 19/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 20/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 21/50: success=True steps=613 env=8 +[ckpt_step_0040000] rollout 22/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 23/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 24/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 25/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 26/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 27/50: success=True steps=732 env=8 +[ckpt_step_0040000] rollout 28/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 30/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 31/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 32/50: success=True steps=634 env=3 +[ckpt_step_0040000] rollout 33/50: success=True steps=580 env=6 +[ckpt_step_0040000] rollout 34/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 35/50: success=True steps=674 env=4 +[ckpt_step_0040000] rollout 36/50: success=True steps=677 env=1 +[ckpt_step_0040000] rollout 37/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 38/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 39/50: success=True steps=693 env=6 +[ckpt_step_0040000] rollout 40/50: success=True steps=819 env=2 +[ckpt_step_0040000] rollout 41/50: success=True steps=689 env=5 +[ckpt_step_0040000] rollout 42/50: success=True steps=682 env=4 +[ckpt_step_0040000] rollout 43/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 44/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 45/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 46/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 47/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 48/50: success=True steps=735 env=0 +[ckpt_step_0040000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 50/50: success=False steps=1200 env=6 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/checkpoints/ckpt_step_0050000.pt (step=50000) +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[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 [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[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 [1] +[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 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[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 [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[ckpt_step_0050000] rollout 1/50: success=True steps=603 env=2 +[ckpt_step_0050000] rollout 2/50: success=True steps=625 env=7 +[ckpt_step_0050000] rollout 3/50: success=True steps=640 env=5 +[ckpt_step_0050000] rollout 4/50: success=True steps=855 env=6 +[ckpt_step_0050000] rollout 5/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 6/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 7/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 8/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 11/50: success=True steps=697 env=2 +[ckpt_step_0050000] rollout 12/50: success=True steps=761 env=5 +[ckpt_step_0050000] rollout 13/50: success=True steps=616 env=9 +[ckpt_step_0050000] rollout 14/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 15/50: success=True steps=696 env=3 +[ckpt_step_0050000] rollout 16/50: success=True steps=789 env=1 +[ckpt_step_0050000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 18/50: success=True steps=742 env=5 +[ckpt_step_0050000] rollout 19/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 20/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 21/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 22/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 23/50: success=True steps=725 env=9 +[ckpt_step_0050000] rollout 24/50: success=True steps=675 env=3 +[ckpt_step_0050000] rollout 25/50: success=True steps=721 env=1 +[ckpt_step_0050000] rollout 26/50: success=True steps=708 env=5 +[ckpt_step_0050000] rollout 27/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 28/50: success=True steps=741 env=0 +[ckpt_step_0050000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 30/50: success=True steps=779 env=3 +[ckpt_step_0050000] rollout 31/50: success=True steps=794 env=1 +[ckpt_step_0050000] rollout 32/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 33/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 34/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 35/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 36/50: success=True steps=996 env=7 +[ckpt_step_0050000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 38/50: success=True steps=920 env=3 +[ckpt_step_0050000] rollout 39/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 40/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 41/50: success=True steps=866 env=2 +[ckpt_step_0050000] rollout 42/50: success=True steps=656 env=7 +[ckpt_step_0050000] rollout 43/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 44/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 45/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 46/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 47/50: success=True steps=952 env=5 +[ckpt_step_0050000] rollout 48/50: success=True steps=728 env=0 +[ckpt_step_0050000] rollout 49/50: success=True steps=699 env=6 +[ckpt_step_0050000] rollout 50/50: success=True steps=715 env=1 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/checkpoints/ckpt_step_0060000.pt (step=60000) +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3, 6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[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 [4] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened 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 [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened 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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[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 [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[ckpt_step_0060000] rollout 1/50: success=True steps=673 env=1 +[ckpt_step_0060000] rollout 2/50: success=True steps=718 env=9 +[ckpt_step_0060000] rollout 3/50: success=True steps=755 env=6 +[ckpt_step_0060000] rollout 4/50: success=True steps=800 env=7 +[ckpt_step_0060000] rollout 5/50: success=True steps=1164 env=4 +[ckpt_step_0060000] rollout 6/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 7/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 8/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 9/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 11/50: success=True steps=714 env=6 +[ckpt_step_0060000] rollout 12/50: success=True steps=641 env=4 +[ckpt_step_0060000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 14/50: success=True steps=1076 env=7 +[ckpt_step_0060000] rollout 15/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 16/50: success=True steps=741 env=5 +[ckpt_step_0060000] rollout 17/50: success=True steps=757 env=8 +[ckpt_step_0060000] rollout 18/50: success=True steps=623 env=6 +[ckpt_step_0060000] rollout 19/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 20/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 21/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 22/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 23/50: success=True steps=667 env=3 +[ckpt_step_0060000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 25/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 26/50: success=True steps=704 env=2 +[ckpt_step_0060000] rollout 27/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 28/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 30/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 31/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 32/50: success=True steps=743 env=1 +[ckpt_step_0060000] rollout 33/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 34/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 35/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 36/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 37/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 38/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 39/50: success=True steps=750 env=0 +[ckpt_step_0060000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 41/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 42/50: success=True steps=617 env=7 +[ckpt_step_0060000] rollout 43/50: success=True steps=586 env=9 +[ckpt_step_0060000] rollout 44/50: success=True steps=627 env=8 +[ckpt_step_0060000] rollout 45/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 46/50: success=True steps=736 env=6 +[ckpt_step_0060000] rollout 47/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 48/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 49/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 50/50: success=False steps=1200 env=5 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/checkpoints/ckpt_step_0070000.pt (step=70000) +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up 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 [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[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 [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[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 [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened 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 [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7, 9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[ckpt_step_0070000] rollout 1/50: success=True steps=645 env=8 +[ckpt_step_0070000] rollout 2/50: success=True steps=659 env=5 +[ckpt_step_0070000] rollout 3/50: success=True steps=736 env=2 +[ckpt_step_0070000] rollout 4/50: success=True steps=746 env=4 +[ckpt_step_0070000] rollout 5/50: success=True steps=769 env=1 +[ckpt_step_0070000] rollout 6/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 7/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 11/50: success=True steps=698 env=8 +[ckpt_step_0070000] rollout 12/50: success=True steps=706 env=5 +[ckpt_step_0070000] rollout 13/50: success=True steps=640 env=1 +[ckpt_step_0070000] rollout 14/50: success=True steps=728 env=4 +[ckpt_step_0070000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 16/50: success=True steps=782 env=6 +[ckpt_step_0070000] rollout 17/50: success=True steps=693 env=8 +[ckpt_step_0070000] rollout 18/50: success=True steps=842 env=0 +[ckpt_step_0070000] rollout 19/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 20/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 21/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 22/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 23/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 24/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 25/50: success=True steps=558 env=3 +[ckpt_step_0070000] rollout 26/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 27/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 28/50: success=True steps=632 env=5 +[ckpt_step_0070000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 30/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 31/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 32/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 33/50: success=True steps=620 env=6 +[ckpt_step_0070000] rollout 34/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 35/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 36/50: success=True steps=817 env=5 +[ckpt_step_0070000] rollout 37/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 38/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 40/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 41/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 42/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 43/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 44/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 45/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 46/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 47/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 48/50: success=True steps=687 env=9 +[ckpt_step_0070000] rollout 49/50: success=True steps=693 env=7 +[ckpt_step_0070000] rollout 50/50: success=False steps=1200 env=2 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/checkpoints/ckpt_step_0080000.pt (step=80000) +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2, 9] +[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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[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 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[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 [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[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 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[ckpt_step_0080000] rollout 1/50: success=True steps=637 env=6 +[ckpt_step_0080000] rollout 2/50: success=True steps=711 env=9 +[ckpt_step_0080000] rollout 3/50: success=True steps=727 env=3 +[ckpt_step_0080000] rollout 4/50: success=True steps=751 env=7 +[ckpt_step_0080000] rollout 5/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 6/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 7/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 8/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 9/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 11/50: success=True steps=728 env=3 +[ckpt_step_0080000] rollout 12/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 13/50: success=True steps=702 env=4 +[ckpt_step_0080000] rollout 14/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 15/50: success=True steps=723 env=1 +[ckpt_step_0080000] rollout 16/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 17/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 18/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 19/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 21/50: success=True steps=620 env=7 +[ckpt_step_0080000] rollout 22/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 23/50: success=True steps=745 env=9 +[ckpt_step_0080000] rollout 24/50: success=True steps=850 env=4 +[ckpt_step_0080000] rollout 25/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 26/50: success=True steps=670 env=0 +[ckpt_step_0080000] rollout 27/50: success=True steps=712 env=5 +[ckpt_step_0080000] rollout 28/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 29/50: success=True steps=741 env=8 +[ckpt_step_0080000] rollout 30/50: success=True steps=706 env=7 +[ckpt_step_0080000] rollout 31/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 32/50: success=True steps=873 env=4 +[ckpt_step_0080000] rollout 33/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 34/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 35/50: success=True steps=787 env=0 +[ckpt_step_0080000] rollout 36/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 38/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 40/50: success=True steps=746 env=4 +[ckpt_step_0080000] rollout 41/50: success=True steps=610 env=3 +[ckpt_step_0080000] rollout 42/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 43/50: success=True steps=777 env=9 +[ckpt_step_0080000] rollout 44/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 45/50: success=True steps=666 env=6 +[ckpt_step_0080000] rollout 46/50: success=True steps=718 env=1 +[ckpt_step_0080000] rollout 47/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 48/50: success=True steps=746 env=5 +[ckpt_step_0080000] rollout 49/50: success=True steps=677 env=9 +[ckpt_step_0080000] rollout 50/50: success=False steps=1200 env=8 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/checkpoints/ckpt_step_0090000.pt (step=90000) +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [2] +[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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[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 [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0, 2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[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 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[ckpt_step_0090000] rollout 1/50: success=True steps=641 env=2 +[ckpt_step_0090000] rollout 2/50: success=True steps=710 env=3 +[ckpt_step_0090000] rollout 3/50: success=True steps=798 env=1 +[ckpt_step_0090000] rollout 4/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 11/50: success=True steps=848 env=3 +[ckpt_step_0090000] rollout 12/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 13/50: success=True steps=667 env=0 +[ckpt_step_0090000] rollout 14/50: success=True steps=729 env=5 +[ckpt_step_0090000] rollout 15/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 16/50: success=True steps=673 env=3 +[ckpt_step_0090000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 21/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 22/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 23/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 24/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 26/50: success=True steps=799 env=6 +[ckpt_step_0090000] rollout 27/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 28/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 31/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 32/50: success=True steps=602 env=1 +[ckpt_step_0090000] rollout 33/50: success=True steps=725 env=3 +[ckpt_step_0090000] rollout 34/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 35/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 36/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 37/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 38/50: success=True steps=776 env=1 +[ckpt_step_0090000] rollout 39/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 40/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 41/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 42/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 43/50: success=True steps=636 env=1 +[ckpt_step_0090000] rollout 44/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 45/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 46/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 47/50: success=True steps=691 env=9 +[ckpt_step_0090000] rollout 48/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 49/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 50/50: success=True steps=650 env=1 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/checkpoints/ckpt_final.pt (step=100000) +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[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 [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[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 [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer 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 [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[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 [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[ckpt_final] rollout 1/50: success=True steps=704 env=0 +[ckpt_final] rollout 2/50: success=True steps=729 env=9 +[ckpt_final] rollout 3/50: success=True steps=956 env=3 +[ckpt_final] rollout 4/50: success=False steps=1200 env=1 +[ckpt_final] rollout 5/50: success=False steps=1200 env=2 +[ckpt_final] rollout 6/50: success=False steps=1200 env=4 +[ckpt_final] rollout 7/50: success=False steps=1200 env=5 +[ckpt_final] rollout 8/50: success=False steps=1200 env=6 +[ckpt_final] rollout 9/50: success=False steps=1200 env=7 +[ckpt_final] rollout 10/50: success=False steps=1200 env=8 +[ckpt_final] rollout 11/50: success=True steps=633 env=3 +[ckpt_final] rollout 12/50: success=True steps=628 env=8 +[ckpt_final] rollout 13/50: success=True steps=656 env=4 +[ckpt_final] rollout 14/50: success=False steps=1200 env=0 +[ckpt_final] rollout 15/50: success=False steps=1200 env=9 +[ckpt_final] rollout 16/50: success=True steps=671 env=3 +[ckpt_final] rollout 17/50: success=False steps=1200 env=1 +[ckpt_final] rollout 18/50: success=False steps=1200 env=2 +[ckpt_final] rollout 19/50: success=False steps=1200 env=5 +[ckpt_final] rollout 20/50: success=False steps=1200 env=6 +[ckpt_final] rollout 21/50: success=False steps=1200 env=7 +[ckpt_final] rollout 22/50: success=True steps=626 env=4 +[ckpt_final] rollout 23/50: success=True steps=683 env=8 +[ckpt_final] rollout 24/50: success=False steps=1200 env=0 +[ckpt_final] rollout 25/50: success=True steps=705 env=5 +[ckpt_final] rollout 26/50: success=False steps=1200 env=9 +[ckpt_final] rollout 27/50: success=True steps=647 env=8 +[ckpt_final] rollout 28/50: success=False steps=1200 env=3 +[ckpt_final] rollout 29/50: success=False steps=1200 env=1 +[ckpt_final] rollout 30/50: success=False steps=1200 env=2 +[ckpt_final] rollout 31/50: success=False steps=1200 env=6 +[ckpt_final] rollout 32/50: success=False steps=1200 env=7 +[ckpt_final] rollout 33/50: success=False steps=1200 env=4 +[ckpt_final] rollout 34/50: success=True steps=684 env=8 +[ckpt_final] rollout 35/50: success=False steps=1200 env=0 +[ckpt_final] rollout 36/50: success=False steps=1200 env=5 +[ckpt_final] rollout 37/50: success=False steps=1200 env=9 +[ckpt_final] rollout 38/50: success=True steps=742 env=1 +[ckpt_final] rollout 39/50: success=True steps=746 env=4 +[ckpt_final] rollout 40/50: success=True steps=955 env=7 +[ckpt_final] rollout 41/50: success=False steps=1200 env=3 +[ckpt_final] rollout 42/50: success=False steps=1200 env=2 +[ckpt_final] rollout 43/50: success=False steps=1200 env=6 +[ckpt_final] rollout 44/50: success=True steps=695 env=5 +[ckpt_final] rollout 45/50: success=True steps=677 env=1 +[ckpt_final] rollout 46/50: success=False steps=1200 env=8 +[ckpt_final] rollout 47/50: success=True steps=852 env=4 +[ckpt_final] rollout 48/50: success=False steps=1200 env=0 +[ckpt_final] rollout 49/50: success=False steps=1200 env=9 +[ckpt_final] rollout 50/50: success=True steps=676 env=5 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_50_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up 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 [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer 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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[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 [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[ckpt_step_0100000] rollout 1/50: success=True steps=837 env=8 +[ckpt_step_0100000] rollout 2/50: success=True steps=884 env=7 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 9/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 11/50: success=True steps=669 env=0 +[ckpt_step_0100000] rollout 12/50: success=True steps=712 env=1 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 21/50: success=True steps=636 env=0 +[ckpt_step_0100000] rollout 22/50: success=True steps=652 env=1 +[ckpt_step_0100000] rollout 23/50: success=True steps=635 env=2 +[ckpt_step_0100000] rollout 24/50: success=True steps=699 env=4 +[ckpt_step_0100000] rollout 25/50: success=True steps=767 env=3 +[ckpt_step_0100000] rollout 26/50: success=True steps=782 env=9 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 28/50: success=True steps=742 env=0 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 31/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 32/50: success=True steps=662 env=2 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 34/50: success=True steps=693 env=4 +[ckpt_step_0100000] rollout 35/50: success=True steps=626 env=7 +[ckpt_step_0100000] rollout 36/50: success=True steps=755 env=8 +[ckpt_step_0100000] rollout 37/50: success=True steps=722 env=5 +[ckpt_step_0100000] rollout 38/50: success=True steps=660 env=2 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 40/50: success=True steps=775 env=6 +[ckpt_step_0100000] rollout 41/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 42/50: success=True steps=679 env=1 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 44/50: success=True steps=718 env=7 +[ckpt_step_0100000] rollout 45/50: success=True steps=704 env=8 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 47/50: success=True steps=706 env=5 +[ckpt_step_0100000] rollout 48/50: success=True steps=700 env=1 +[ckpt_step_0100000] rollout 49/50: success=True steps=652 env=7 +[ckpt_step_0100000] rollout 50/50: success=True steps=997 env=9 diff --git a/rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/wandb/run-20260610_044158-5mxz0kai/files/requirements.txt b/rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/wandb/run-20260610_044158-5mxz0kai/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd0_new_opendrawer_50_flow_train_old/sd0_50_rollouts/wandb/run-20260610_044158-5mxz0kai/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 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0000000000000000000000000000000000000000..e1bf17c5aefbb4835a579b60367cfec25ba0c889 --- /dev/null +++ b/rollouts/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/sd0_50_rollouts/results.txt @@ -0,0 +1,14 @@ +task=OpenDrawer-ManagerBased-v0 +num_checkpoints=11 + +ckpt_step_0010000: step=10000 success_rate=0.0600 success_count=3/50 mean_episode_length=1181.92 stage_drawer_opened=0.5800(29/50) stage_charger_picked=0.0800(4/50) stage_charger_placed=0.0600(3/50) stage_drawer_closed=0.0600(3/50) stage_drawer_opened_conditional=0.5800(29/50) stage_charger_picked_conditional=0.1379(4/29) stage_charger_placed_conditional=0.7500(3/4) stage_drawer_closed_conditional=1.0000(3/3) +ckpt_step_0020000: step=20000 success_rate=0.2200 success_count=11/50 mean_episode_length=1125.64 stage_drawer_opened=0.8000(40/50) 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=0.8000(40/50) stage_charger_picked_conditional=0.4000(16/40) stage_charger_placed_conditional=0.8125(13/16) stage_drawer_closed_conditional=0.8462(11/13) +ckpt_step_0030000: step=30000 success_rate=0.4400 success_count=22/50 mean_episode_length=976.06 stage_drawer_opened=0.9200(46/50) stage_charger_picked=0.5000(25/50) stage_charger_placed=0.4600(23/50) stage_drawer_closed=0.4400(22/50) stage_drawer_opened_conditional=0.9200(46/50) stage_charger_picked_conditional=0.5435(25/46) stage_charger_placed_conditional=0.9200(23/25) stage_drawer_closed_conditional=0.9565(22/23) +ckpt_step_0040000: step=40000 success_rate=0.5000 success_count=25/50 mean_episode_length=966.16 stage_drawer_opened=0.9800(49/50) stage_charger_picked=0.5200(26/50) stage_charger_placed=0.5000(25/50) stage_drawer_closed=0.5000(25/50) stage_drawer_opened_conditional=0.9800(49/50) stage_charger_picked_conditional=0.5306(26/49) stage_charger_placed_conditional=0.9615(25/26) stage_drawer_closed_conditional=1.0000(25/25) +ckpt_step_0050000: step=50000 success_rate=0.6000 success_count=30/50 mean_episode_length=903.32 stage_drawer_opened=0.9800(49/50) stage_charger_picked=0.6600(33/50) stage_charger_placed=0.6600(33/50) stage_drawer_closed=0.6000(30/50) stage_drawer_opened_conditional=0.9800(49/50) stage_charger_picked_conditional=0.6735(33/49) stage_charger_placed_conditional=1.0000(33/33) stage_drawer_closed_conditional=0.9091(30/33) +ckpt_step_0060000: step=60000 success_rate=0.4800 success_count=24/50 mean_episode_length=951.28 stage_drawer_opened=0.8400(42/50) stage_charger_picked=0.5400(27/50) stage_charger_placed=0.5000(25/50) stage_drawer_closed=0.4800(24/50) stage_drawer_opened_conditional=0.8400(42/50) stage_charger_picked_conditional=0.6429(27/42) stage_charger_placed_conditional=0.9259(25/27) stage_drawer_closed_conditional=0.9600(24/25) +ckpt_step_0070000: step=70000 success_rate=0.4800 success_count=24/50 mean_episode_length=974.08 stage_drawer_opened=0.9000(45/50) stage_charger_picked=0.5200(26/50) stage_charger_placed=0.4800(24/50) stage_drawer_closed=0.4800(24/50) stage_drawer_opened_conditional=0.9000(45/50) stage_charger_picked_conditional=0.5778(26/45) stage_charger_placed_conditional=0.9231(24/26) stage_drawer_closed_conditional=1.0000(24/24) +ckpt_step_0080000: step=80000 success_rate=0.5400 success_count=27/50 mean_episode_length=929.98 stage_drawer_opened=0.9600(48/50) stage_charger_picked=0.5600(28/50) stage_charger_placed=0.5400(27/50) stage_drawer_closed=0.5400(27/50) stage_drawer_opened_conditional=0.9600(48/50) stage_charger_picked_conditional=0.5833(28/48) stage_charger_placed_conditional=0.9643(27/28) stage_drawer_closed_conditional=1.0000(27/27) +ckpt_step_0090000: step=90000 success_rate=0.5800 success_count=29/50 mean_episode_length=908.60 stage_drawer_opened=0.9200(46/50) stage_charger_picked=0.6000(30/50) stage_charger_placed=0.6000(30/50) stage_drawer_closed=0.5800(29/50) stage_drawer_opened_conditional=0.9200(46/50) stage_charger_picked_conditional=0.6522(30/46) stage_charger_placed_conditional=1.0000(30/30) stage_drawer_closed_conditional=0.9667(29/30) +ckpt_final: step=100000 success_rate=0.6200 success_count=31/50 mean_episode_length=898.96 stage_drawer_opened=0.8800(44/50) stage_charger_picked=0.6600(33/50) stage_charger_placed=0.6400(32/50) stage_drawer_closed=0.6200(31/50) stage_drawer_opened_conditional=0.8800(44/50) stage_charger_picked_conditional=0.7500(33/44) stage_charger_placed_conditional=0.9697(32/33) stage_drawer_closed_conditional=0.9688(31/32) +ckpt_step_0100000: step=100000 success_rate=0.6200 success_count=31/50 mean_episode_length=897.22 stage_drawer_opened=0.9400(47/50) stage_charger_picked=0.6200(31/50) stage_charger_placed=0.6200(31/50) stage_drawer_closed=0.6200(31/50) stage_drawer_opened_conditional=0.9400(47/50) stage_charger_picked_conditional=0.6596(31/47) stage_charger_placed_conditional=1.0000(31/31) stage_drawer_closed_conditional=1.0000(31/31) diff --git a/rollouts/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/sd0_50_rollouts/wandb/run-20260610_114302-u7m0w5rs/files/config.yaml b/rollouts/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/sd0_50_rollouts/wandb/run-20260610_114302-u7m0w5rs/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..54438c7b3db7309a615839f7078aa552c3ded40d --- /dev/null +++ b/rollouts/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/sd0_50_rollouts/wandb/run-20260610_114302-u7m0w5rs/files/config.yaml @@ -0,0 +1,247 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + c84mpf61a640606rc8zvw96bqx8kvimu: + 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_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_v2_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: "309216751616" + email: chengenwu@berkeley.edu + executable: /home/david/Document/env_isaaclab/bin/python + git: + commit: 1bb39deb18a25f1eab122cdedfbca898baff4d4a + 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_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/sd0_50_rollouts + startedAt: "2026-06-10T18:43:02.135448Z" + writerId: c84mpf61a640606rc8zvw96bqx8kvimu + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5 + 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_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2 + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_flow + run_name: sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_v2 +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: + - 256 + - 512 + - 1024 + 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_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/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 diff --git a/rollouts/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/sd0_50_rollouts/wandb/run-20260610_114302-u7m0w5rs/files/output.log b/rollouts/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/sd0_50_rollouts/wandb/run-20260610_114302-u7m0w5rs/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..e49d7a3e1a01d7a6baa059b12f151f645b41b487 --- /dev/null +++ b/rollouts/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/sd0_50_rollouts/wandb/run-20260610_114302-u7m0w5rs/files/output.log @@ -0,0 +1,2055 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-10_11-43-02.log +====================================================================================== + +11:43:02 [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 +11:43:03 [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 : 0.539483 seconds +[INFO]: Scene manager: + 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 : 4.153829 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/checkpoints/ckpt_step_0010000.pt (step=10000) +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[ckpt_step_0010000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 11/50: success=True steps=723 env=5 +[ckpt_step_0010000] rollout 12/50: success=True steps=813 env=0 +[ckpt_step_0010000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 21/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 22/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 23/50: success=True steps=1160 env=2 +[ckpt_step_0010000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 25/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 26/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 27/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 31/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 32/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 33/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 34/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 35/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 36/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 37/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 38/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 41/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 42/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 43/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 44/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 45/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 47/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 48/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/checkpoints/ckpt_step_0020000.pt (step=20000) +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened 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 [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [9] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[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 [2] +[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 [1] +[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 [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[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 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 [2] +[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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[ckpt_step_0020000] rollout 1/50: success=True steps=657 env=3 +[ckpt_step_0020000] rollout 2/50: success=True steps=908 env=5 +[ckpt_step_0020000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 4/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 5/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 11/50: success=True steps=869 env=3 +[ckpt_step_0020000] rollout 12/50: success=True steps=676 env=5 +[ckpt_step_0020000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 21/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 22/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 23/50: success=True steps=873 env=2 +[ckpt_step_0020000] rollout 24/50: success=True steps=1092 env=7 +[ckpt_step_0020000] rollout 25/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 26/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 31/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 32/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 33/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 34/50: success=True steps=883 env=9 +[ckpt_step_0020000] rollout 35/50: success=True steps=943 env=4 +[ckpt_step_0020000] rollout 36/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 37/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 38/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 41/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 42/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 43/50: success=True steps=933 env=2 +[ckpt_step_0020000] rollout 44/50: success=True steps=941 env=4 +[ckpt_step_0020000] rollout 45/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 46/50: success=True steps=707 env=5 +[ckpt_step_0020000] rollout 47/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 48/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 49/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 50/50: success=False steps=1200 env=6 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/checkpoints/ckpt_step_0030000.pt (step=30000) +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [0] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[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 [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[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 [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[ckpt_step_0030000] rollout 1/50: success=True steps=665 env=9 +[ckpt_step_0030000] rollout 2/50: success=True steps=761 env=4 +[ckpt_step_0030000] rollout 3/50: success=True steps=855 env=8 +[ckpt_step_0030000] rollout 4/50: success=True steps=881 env=0 +[ckpt_step_0030000] rollout 5/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 6/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 7/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 8/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 9/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 10/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 11/50: success=True steps=632 env=9 +[ckpt_step_0030000] rollout 12/50: success=True steps=675 env=8 +[ckpt_step_0030000] rollout 13/50: success=True steps=583 env=2 +[ckpt_step_0030000] rollout 14/50: success=True steps=591 env=3 +[ckpt_step_0030000] rollout 15/50: success=True steps=663 env=7 +[ckpt_step_0030000] rollout 16/50: success=True steps=697 env=6 +[ckpt_step_0030000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 18/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 19/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 20/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 21/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 22/50: success=True steps=685 env=4 +[ckpt_step_0030000] rollout 23/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 24/50: success=True steps=706 env=0 +[ckpt_step_0030000] rollout 25/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 27/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 29/50: success=True steps=723 env=1 +[ckpt_step_0030000] rollout 30/50: success=True steps=727 env=5 +[ckpt_step_0030000] rollout 31/50: success=True steps=786 env=4 +[ckpt_step_0030000] rollout 32/50: success=True steps=604 env=3 +[ckpt_step_0030000] rollout 33/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 34/50: success=True steps=620 env=5 +[ckpt_step_0030000] rollout 35/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 36/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 37/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 38/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 40/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 41/50: success=True steps=825 env=3 +[ckpt_step_0030000] rollout 42/50: success=True steps=688 env=8 +[ckpt_step_0030000] rollout 43/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 44/50: success=True steps=596 env=2 +[ckpt_step_0030000] rollout 45/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 46/50: success=True steps=632 env=6 +[ckpt_step_0030000] rollout 47/50: success=True steps=608 env=1 +[ckpt_step_0030000] rollout 48/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 49/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 50/50: success=False steps=1200 env=7 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/checkpoints/ckpt_step_0040000.pt (step=40000) +[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 [3] +[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 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up 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 [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[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 [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer 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 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up 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 [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[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 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside 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 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[ckpt_step_0040000] rollout 1/50: success=True steps=584 env=9 +[ckpt_step_0040000] rollout 2/50: success=True steps=585 env=2 +[ckpt_step_0040000] rollout 3/50: success=True steps=671 env=0 +[ckpt_step_0040000] rollout 4/50: success=True steps=675 env=6 +[ckpt_step_0040000] rollout 5/50: success=True steps=706 env=7 +[ckpt_step_0040000] rollout 6/50: success=True steps=718 env=5 +[ckpt_step_0040000] rollout 7/50: success=True steps=755 env=4 +[ckpt_step_0040000] rollout 8/50: success=True steps=870 env=8 +[ckpt_step_0040000] rollout 9/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 10/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 11/50: success=True steps=666 env=0 +[ckpt_step_0040000] rollout 12/50: success=True steps=811 env=9 +[ckpt_step_0040000] rollout 13/50: success=True steps=703 env=7 +[ckpt_step_0040000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 15/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 18/50: success=True steps=658 env=7 +[ckpt_step_0040000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 20/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 21/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 22/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 23/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 24/50: success=True steps=717 env=7 +[ckpt_step_0040000] rollout 25/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 26/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 27/50: success=True steps=1130 env=4 +[ckpt_step_0040000] rollout 28/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 29/50: success=True steps=760 env=3 +[ckpt_step_0040000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 31/50: success=True steps=758 env=0 +[ckpt_step_0040000] rollout 32/50: success=True steps=684 env=7 +[ckpt_step_0040000] rollout 33/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 34/50: success=True steps=662 env=2 +[ckpt_step_0040000] rollout 35/50: success=True steps=634 env=6 +[ckpt_step_0040000] rollout 36/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 37/50: success=True steps=678 env=5 +[ckpt_step_0040000] rollout 38/50: success=True steps=748 env=4 +[ckpt_step_0040000] rollout 39/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 40/50: success=True steps=646 env=9 +[ckpt_step_0040000] rollout 41/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 42/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 43/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 44/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 45/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 46/50: success=True steps=1198 env=6 +[ckpt_step_0040000] rollout 47/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 48/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 49/50: success=True steps=665 env=8 +[ckpt_step_0040000] rollout 50/50: success=True steps=626 env=1 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/checkpoints/ckpt_step_0050000.pt (step=50000) +[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 [6, 7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up 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 [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[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 [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[ckpt_step_0050000] rollout 1/50: success=True steps=575 env=7 +[ckpt_step_0050000] rollout 2/50: success=True steps=645 env=2 +[ckpt_step_0050000] rollout 3/50: success=True steps=781 env=8 +[ckpt_step_0050000] rollout 4/50: success=True steps=866 env=6 +[ckpt_step_0050000] rollout 5/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 6/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 7/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 8/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 9/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 11/50: success=True steps=631 env=7 +[ckpt_step_0050000] rollout 12/50: success=True steps=678 env=2 +[ckpt_step_0050000] rollout 13/50: success=True steps=682 env=8 +[ckpt_step_0050000] rollout 14/50: success=True steps=647 env=6 +[ckpt_step_0050000] rollout 15/50: success=True steps=582 env=9 +[ckpt_step_0050000] rollout 16/50: success=True steps=667 env=1 +[ckpt_step_0050000] rollout 17/50: success=True steps=680 env=3 +[ckpt_step_0050000] rollout 18/50: success=True steps=732 env=8 +[ckpt_step_0050000] rollout 19/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 20/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 21/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 22/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 23/50: success=True steps=706 env=9 +[ckpt_step_0050000] rollout 24/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 25/50: success=True steps=708 env=1 +[ckpt_step_0050000] rollout 26/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 27/50: success=True steps=663 env=8 +[ckpt_step_0050000] rollout 28/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 29/50: success=True steps=691 env=9 +[ckpt_step_0050000] rollout 30/50: success=True steps=780 env=0 +[ckpt_step_0050000] rollout 31/50: success=True steps=867 env=4 +[ckpt_step_0050000] rollout 32/50: success=True steps=643 env=6 +[ckpt_step_0050000] rollout 33/50: success=True steps=984 env=1 +[ckpt_step_0050000] rollout 34/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 35/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 36/50: success=True steps=600 env=3 +[ckpt_step_0050000] rollout 37/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 38/50: success=True steps=611 env=4 +[ckpt_step_0050000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 40/50: success=True steps=811 env=6 +[ckpt_step_0050000] rollout 41/50: success=True steps=662 env=1 +[ckpt_step_0050000] rollout 42/50: success=True steps=679 env=5 +[ckpt_step_0050000] rollout 43/50: success=True steps=639 env=3 +[ckpt_step_0050000] rollout 44/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 45/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 46/50: success=True steps=823 env=2 +[ckpt_step_0050000] rollout 47/50: success=True steps=674 env=8 +[ckpt_step_0050000] rollout 48/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 49/50: success=True steps=681 env=1 +[ckpt_step_0050000] rollout 50/50: success=True steps=778 env=6 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/checkpoints/ckpt_step_0060000.pt (step=60000) +[OpenDrawer] stage 1 drawer opened success reached for envs [1, 2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[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 [6, 7] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer 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 [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up 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 [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[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 [2] +[OpenDrawer] stage 2 charger picked up 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 [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[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 [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up 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 [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[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 [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1, 5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[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 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[ckpt_step_0060000] rollout 1/50: success=True steps=603 env=7 +[ckpt_step_0060000] rollout 2/50: success=True steps=640 env=5 +[ckpt_step_0060000] rollout 3/50: success=True steps=645 env=1 +[ckpt_step_0060000] rollout 4/50: success=True steps=769 env=6 +[ckpt_step_0060000] rollout 5/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 6/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 7/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 8/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 11/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 12/50: success=True steps=613 env=0 +[ckpt_step_0060000] rollout 13/50: success=True steps=639 env=3 +[ckpt_step_0060000] rollout 14/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 15/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 16/50: success=True steps=768 env=2 +[ckpt_step_0060000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 18/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 21/50: success=True steps=628 env=7 +[ckpt_step_0060000] rollout 22/50: success=True steps=711 env=0 +[ckpt_step_0060000] rollout 23/50: success=True steps=694 env=2 +[ckpt_step_0060000] rollout 24/50: success=True steps=620 env=8 +[ckpt_step_0060000] rollout 25/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 26/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 27/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 28/50: success=True steps=684 env=7 +[ckpt_step_0060000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 30/50: success=True steps=647 env=0 +[ckpt_step_0060000] rollout 31/50: success=True steps=775 env=2 +[ckpt_step_0060000] rollout 32/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 33/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 34/50: success=True steps=694 env=3 +[ckpt_step_0060000] rollout 35/50: success=True steps=757 env=8 +[ckpt_step_0060000] rollout 36/50: success=True steps=763 env=2 +[ckpt_step_0060000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 38/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 39/50: success=True steps=690 env=9 +[ckpt_step_0060000] rollout 40/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 41/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 42/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 43/50: success=True steps=598 env=8 +[ckpt_step_0060000] rollout 44/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 45/50: success=True steps=589 env=5 +[ckpt_step_0060000] rollout 46/50: success=True steps=603 env=1 +[ckpt_step_0060000] rollout 47/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 48/50: success=True steps=620 env=8 +[ckpt_step_0060000] rollout 49/50: success=True steps=846 env=2 +[ckpt_step_0060000] rollout 50/50: success=True steps=768 env=7 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/checkpoints/ckpt_step_0070000.pt (step=70000) +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[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 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer 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 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer 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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up 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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[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 1 drawer opened success reached for envs [4] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[ckpt_step_0070000] rollout 1/50: success=True steps=639 env=6 +[ckpt_step_0070000] rollout 2/50: success=True steps=640 env=7 +[ckpt_step_0070000] rollout 3/50: success=True steps=698 env=4 +[ckpt_step_0070000] rollout 4/50: success=True steps=703 env=1 +[ckpt_step_0070000] rollout 5/50: success=True steps=900 env=5 +[ckpt_step_0070000] rollout 6/50: success=True steps=1153 env=9 +[ckpt_step_0070000] rollout 7/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 8/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 9/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 11/50: success=True steps=664 env=6 +[ckpt_step_0070000] rollout 12/50: success=True steps=783 env=7 +[ckpt_step_0070000] rollout 13/50: success=True steps=608 env=9 +[ckpt_step_0070000] rollout 14/50: success=True steps=562 env=3 +[ckpt_step_0070000] rollout 15/50: success=True steps=642 env=8 +[ckpt_step_0070000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 17/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 18/50: success=True steps=709 env=0 +[ckpt_step_0070000] rollout 19/50: success=True steps=846 env=2 +[ckpt_step_0070000] rollout 20/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 21/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 22/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 23/50: success=True steps=649 env=5 +[ckpt_step_0070000] rollout 24/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 25/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 26/50: success=True steps=1064 env=4 +[ckpt_step_0070000] rollout 27/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 28/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 29/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 30/50: success=True steps=659 env=6 +[ckpt_step_0070000] rollout 31/50: success=True steps=617 env=7 +[ckpt_step_0070000] rollout 32/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 33/50: success=True steps=790 env=5 +[ckpt_step_0070000] rollout 34/50: success=True steps=707 env=4 +[ckpt_step_0070000] rollout 35/50: success=True steps=694 env=7 +[ckpt_step_0070000] rollout 36/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 37/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 38/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 39/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 40/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 41/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 42/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 43/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 44/50: success=True steps=655 env=9 +[ckpt_step_0070000] rollout 45/50: success=True steps=683 env=3 +[ckpt_step_0070000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 47/50: success=True steps=667 env=6 +[ckpt_step_0070000] rollout 48/50: success=True steps=772 env=0 +[ckpt_step_0070000] rollout 49/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 50/50: success=False steps=1200 env=8 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/checkpoints/ckpt_step_0080000.pt (step=80000) +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5, 9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0, 2, 7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1, 3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2, 9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[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 [2] +[OpenDrawer] stage 4 drawer closed with charger inside 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 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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[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 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[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 [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer 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 [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened 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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[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 1 drawer opened success reached for envs [8] +[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 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up 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 [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened 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 [1] +[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 [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[ckpt_step_0080000] rollout 1/50: success=True steps=617 env=9 +[ckpt_step_0080000] rollout 2/50: success=True steps=630 env=6 +[ckpt_step_0080000] rollout 3/50: success=True steps=642 env=2 +[ckpt_step_0080000] rollout 4/50: success=True steps=652 env=1 +[ckpt_step_0080000] rollout 5/50: success=True steps=779 env=5 +[ckpt_step_0080000] rollout 6/50: success=True steps=828 env=3 +[ckpt_step_0080000] rollout 7/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 8/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 11/50: success=True steps=648 env=2 +[ckpt_step_0080000] rollout 12/50: success=True steps=694 env=9 +[ckpt_step_0080000] rollout 13/50: success=True steps=704 env=5 +[ckpt_step_0080000] rollout 14/50: success=True steps=566 env=7 +[ckpt_step_0080000] rollout 15/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 16/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 17/50: success=True steps=668 env=0 +[ckpt_step_0080000] rollout 18/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 19/50: success=True steps=1002 env=8 +[ckpt_step_0080000] rollout 20/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 21/50: success=True steps=686 env=7 +[ckpt_step_0080000] rollout 22/50: success=True steps=621 env=1 +[ckpt_step_0080000] rollout 23/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 24/50: success=True steps=641 env=0 +[ckpt_step_0080000] rollout 25/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 26/50: success=True steps=690 env=6 +[ckpt_step_0080000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 28/50: success=True steps=745 env=8 +[ckpt_step_0080000] rollout 29/50: success=True steps=741 env=7 +[ckpt_step_0080000] rollout 30/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 31/50: success=True steps=651 env=8 +[ckpt_step_0080000] rollout 32/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 33/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 34/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 35/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 36/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 37/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 38/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 39/50: success=True steps=738 env=7 +[ckpt_step_0080000] rollout 40/50: success=True steps=728 env=3 +[ckpt_step_0080000] rollout 41/50: success=True steps=583 env=1 +[ckpt_step_0080000] rollout 42/50: success=True steps=639 env=0 +[ckpt_step_0080000] rollout 43/50: success=True steps=666 env=3 +[ckpt_step_0080000] rollout 44/50: success=True steps=1010 env=9 +[ckpt_step_0080000] rollout 45/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 47/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 48/50: success=True steps=643 env=1 +[ckpt_step_0080000] rollout 49/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 50/50: success=True steps=687 env=0 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/checkpoints/ckpt_step_0090000.pt (step=90000) +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [3] +[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 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[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 [3, 9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0, 6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[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 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4, 6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[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 [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [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 [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside 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 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[ckpt_step_0090000] rollout 1/50: success=True steps=580 env=2 +[ckpt_step_0090000] rollout 2/50: success=True steps=638 env=5 +[ckpt_step_0090000] rollout 3/50: success=True steps=679 env=9 +[ckpt_step_0090000] rollout 4/50: success=True steps=699 env=3 +[ckpt_step_0090000] rollout 5/50: success=True steps=841 env=1 +[ckpt_step_0090000] rollout 6/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 7/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 11/50: success=True steps=605 env=5 +[ckpt_step_0090000] rollout 12/50: success=True steps=724 env=2 +[ckpt_step_0090000] rollout 13/50: success=True steps=708 env=3 +[ckpt_step_0090000] rollout 14/50: success=True steps=650 env=7 +[ckpt_step_0090000] rollout 15/50: success=True steps=667 env=8 +[ckpt_step_0090000] rollout 16/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 17/50: success=True steps=700 env=0 +[ckpt_step_0090000] rollout 18/50: success=True steps=700 env=6 +[ckpt_step_0090000] rollout 19/50: success=True steps=720 env=5 +[ckpt_step_0090000] rollout 20/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 21/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 22/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 23/50: success=True steps=670 env=7 +[ckpt_step_0090000] rollout 24/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 25/50: success=True steps=686 env=5 +[ckpt_step_0090000] rollout 26/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 27/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 28/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 30/50: success=True steps=654 env=2 +[ckpt_step_0090000] rollout 31/50: success=True steps=792 env=4 +[ckpt_step_0090000] rollout 32/50: success=True steps=584 env=5 +[ckpt_step_0090000] rollout 33/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 34/50: success=True steps=1056 env=3 +[ckpt_step_0090000] rollout 35/50: success=True steps=650 env=8 +[ckpt_step_0090000] rollout 36/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 37/50: success=True steps=687 env=0 +[ckpt_step_0090000] rollout 38/50: success=True steps=629 env=4 +[ckpt_step_0090000] rollout 39/50: success=True steps=730 env=6 +[ckpt_step_0090000] rollout 40/50: success=True steps=813 env=2 +[ckpt_step_0090000] rollout 41/50: success=True steps=843 env=5 +[ckpt_step_0090000] rollout 42/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 43/50: success=True steps=619 env=7 +[ckpt_step_0090000] rollout 44/50: success=True steps=668 env=8 +[ckpt_step_0090000] rollout 45/50: success=True steps=590 env=4 +[ckpt_step_0090000] rollout 46/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 47/50: success=True steps=648 env=2 +[ckpt_step_0090000] rollout 48/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 49/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 50/50: success=False steps=1200 env=6 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/checkpoints/ckpt_final.pt (step=100000) +[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 [7, 9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up 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] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer 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 [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside 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 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[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 [1] +[OpenDrawer] stage 1 drawer opened 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 [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up 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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[ckpt_final] rollout 1/50: success=True steps=753 env=3 +[ckpt_final] rollout 2/50: success=True steps=814 env=2 +[ckpt_final] rollout 3/50: success=True steps=919 env=7 +[ckpt_final] rollout 4/50: success=True steps=1000 env=8 +[ckpt_final] rollout 5/50: success=False steps=1200 env=0 +[ckpt_final] rollout 6/50: success=False steps=1200 env=1 +[ckpt_final] rollout 7/50: success=False steps=1200 env=4 +[ckpt_final] rollout 8/50: success=False steps=1200 env=5 +[ckpt_final] rollout 9/50: success=False steps=1200 env=6 +[ckpt_final] rollout 10/50: success=False steps=1200 env=9 +[ckpt_final] rollout 11/50: success=True steps=716 env=2 +[ckpt_final] rollout 12/50: success=True steps=917 env=3 +[ckpt_final] rollout 13/50: success=True steps=618 env=4 +[ckpt_final] rollout 14/50: success=True steps=635 env=0 +[ckpt_final] rollout 15/50: success=True steps=714 env=5 +[ckpt_final] rollout 16/50: success=False steps=1200 env=7 +[ckpt_final] rollout 17/50: success=True steps=640 env=2 +[ckpt_final] rollout 18/50: success=False steps=1200 env=8 +[ckpt_final] rollout 19/50: success=True steps=670 env=3 +[ckpt_final] rollout 20/50: success=False steps=1200 env=1 +[ckpt_final] rollout 21/50: success=False steps=1200 env=6 +[ckpt_final] rollout 22/50: success=False steps=1200 env=9 +[ckpt_final] rollout 23/50: success=True steps=646 env=4 +[ckpt_final] rollout 24/50: success=True steps=586 env=5 +[ckpt_final] rollout 25/50: success=True steps=621 env=7 +[ckpt_final] rollout 26/50: success=True steps=644 env=2 +[ckpt_final] rollout 27/50: success=True steps=722 env=8 +[ckpt_final] rollout 28/50: success=False steps=1200 env=0 +[ckpt_final] rollout 29/50: success=True steps=682 env=6 +[ckpt_final] rollout 30/50: success=True steps=712 env=1 +[ckpt_final] rollout 31/50: success=True steps=621 env=5 +[ckpt_final] rollout 32/50: success=True steps=661 env=4 +[ckpt_final] rollout 33/50: success=True steps=753 env=9 +[ckpt_final] rollout 34/50: success=True steps=680 env=7 +[ckpt_final] rollout 35/50: success=False steps=1200 env=3 +[ckpt_final] rollout 36/50: success=True steps=709 env=8 +[ckpt_final] rollout 37/50: success=True steps=648 env=4 +[ckpt_final] rollout 38/50: success=True steps=761 env=6 +[ckpt_final] rollout 39/50: success=False steps=1200 env=2 +[ckpt_final] rollout 40/50: success=True steps=661 env=7 +[ckpt_final] rollout 41/50: success=False steps=1200 env=0 +[ckpt_final] rollout 42/50: success=False steps=1200 env=1 +[ckpt_final] rollout 43/50: success=False steps=1200 env=5 +[ckpt_final] rollout 44/50: success=False steps=1200 env=9 +[ckpt_final] rollout 45/50: success=True steps=725 env=8 +[ckpt_final] rollout 46/50: success=True steps=963 env=4 +[ckpt_final] rollout 47/50: success=False steps=1200 env=3 +[ckpt_final] rollout 48/50: success=True steps=604 env=0 +[ckpt_final] rollout 49/50: success=True steps=765 env=7 +[ckpt_final] rollout 50/50: success=True steps=588 env=1 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/checkpoints/ckpt_step_0100000.pt (step=100000) +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[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 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up 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 [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[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 [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[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 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up 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] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[ckpt_step_0100000] rollout 1/50: success=True steps=688 env=2 +[ckpt_step_0100000] rollout 2/50: success=True steps=805 env=1 +[ckpt_step_0100000] rollout 3/50: success=True steps=873 env=7 +[ckpt_step_0100000] rollout 4/50: success=True steps=912 env=3 +[ckpt_step_0100000] rollout 5/50: success=True steps=926 env=8 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 9/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 11/50: success=True steps=670 env=2 +[ckpt_step_0100000] rollout 12/50: success=True steps=666 env=1 +[ckpt_step_0100000] rollout 13/50: success=True steps=644 env=8 +[ckpt_step_0100000] rollout 14/50: success=True steps=627 env=9 +[ckpt_step_0100000] rollout 15/50: success=True steps=694 env=0 +[ckpt_step_0100000] rollout 16/50: success=True steps=744 env=5 +[ckpt_step_0100000] rollout 17/50: success=True steps=619 env=2 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 21/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 22/50: success=True steps=561 env=0 +[ckpt_step_0100000] rollout 23/50: success=True steps=608 env=5 +[ckpt_step_0100000] rollout 24/50: success=True steps=772 env=9 +[ckpt_step_0100000] rollout 25/50: success=True steps=626 env=2 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 27/50: success=True steps=688 env=7 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 29/50: success=True steps=599 env=0 +[ckpt_step_0100000] rollout 30/50: success=True steps=681 env=5 +[ckpt_step_0100000] rollout 31/50: success=True steps=704 env=2 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 33/50: success=True steps=730 env=7 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 36/50: success=True steps=680 env=0 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 39/50: success=True steps=637 env=2 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 41/50: success=True steps=663 env=3 +[ckpt_step_0100000] rollout 42/50: success=True steps=679 env=6 +[ckpt_step_0100000] rollout 43/50: success=True steps=724 env=4 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 45/50: success=True steps=897 env=0 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 47/50: success=True steps=759 env=8 +[ckpt_step_0100000] rollout 48/50: success=True steps=584 env=6 +[ckpt_step_0100000] rollout 49/50: success=True steps=929 env=2 +[ckpt_step_0100000] rollout 50/50: success=True steps=672 env=4 diff --git a/rollouts/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/sd0_50_rollouts/wandb/run-20260610_114302-u7m0w5rs/files/requirements.txt b/rollouts/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/sd0_50_rollouts/wandb/run-20260610_114302-u7m0w5rs/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd0_pf_new_opendrawer_150_success_100_stage_3_50_stage_4_50_vig_cut_thd_4_mg_5_flow_train_v2/sd0_50_rollouts/wandb/run-20260610_114302-u7m0w5rs/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 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 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a/rollouts/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts/results.txt b/rollouts/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..8c49802d5782910e20bd9ff3128cc763ce5056e3 --- /dev/null +++ b/rollouts/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts/results.txt @@ -0,0 +1,4 @@ +task=PlaceSphere-AllCams-v1 +num_checkpoints=1 + +ckpt_step_0100000: step=100000 success_rate=0.5800 success_count=29/50 mean_episode_length=256.02 diff --git a/rollouts/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts/wandb/run-20260824_173023-lqymm44b/files/config.yaml b/rollouts/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts/wandb/run-20260824_173023-lqymm44b/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..783e86a262a94a4a8aac2c0556467ef9b0c24706 --- /dev/null +++ b/rollouts/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts/wandb/run-20260824_173023-lqymm44b/files/config.yaml @@ -0,0 +1,246 @@ +_wandb: + value: + cli_version: 0.28.1 + e: + 1te3a1xua3jw5w1zcuc56sgndk6ba0c6: + args: + - --config + - scripts/eval/maniskill_place_sphere_eval_config.json + - -o + - checkpoint_dir=/home/david/Document/robopolicy/runs/sd0_place_sphere_20_vigdagger20_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - num_rollouts=50 + - -o + - num_envs=10 + - -o + - horizon=400 + - -o + - video=true + - -o + - wandb=true + - -o + - latest_only=true + codePath: scripts/eval/maniskill_eval.py + codePathLocal: scripts/eval/maniskill_eval.py + cpu_count: 16 + cpu_count_logical: 32 + cudaVersion: "13.0" + disk: + /: + total: "1081101176832" + used: "857326903296" + email: chengenwu@berkeley.edu + executable: /home/david/Document/maniskill/.venv/bin/python + git: + commit: 532f65fc6c0467ca90242706d9f63519b102b752 + 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: "65677328384" + os: Linux-7.0.0-29-generic-x86_64-with-glibc2.43 + program: /home/david/Document/robopolicy/scripts/eval/maniskill_eval.py + python: CPython 3.11.15 + root: /home/david/Document/robopolicy/runs/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts + startedAt: "2026-08-25T00:30:23.563353Z" + writerId: 1te3a1xua3jw5w1zcuc56sgndk6ba0c6 + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 61 + "4": 3.11.15 + "5": 0.28.1 + "12": 0.28.1 + "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: + - hand_camera + - base_camera + data_dir: /home/david/Document/dataset/place_sphere_20_vigdagger20_combined + 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: + - 8 + source_type: hdf5 + - camera_names: [] + future: 0 + history: 0 + key: state + paths: + - obs/robot0_joint_pos + - obs/robot0_gripper_qpos + shape: + - 9 + source_type: hdf5 + - camera_names: + - hand_camera + - base_camera + future: 0 + history: 0 + key: images + paths: [] + shape: + - 3 + - 256 + - 256 + source_type: video +logging: + value: + out_dir: runs/sd0_place_sphere_20_vigdagger20_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: place_sphere + run_name: sd0_place_sphere_20_vigdagger20_flow_train +maniskill_eval: + value: + actions_per_step: 8 + checkpoint_dir: /home/david/Document/robopolicy/runs/sd0_place_sphere_20_vigdagger20_flow_train/checkpoints + control_mode: pd_joint_pos + horizon: 400 + num_envs: 10 + num_rollouts: 50 + obs_mode: rgbd + output_name: sd0_50_rollouts + policy_image_downsample_factor: 1 + seed: 0 + task: PlaceSphere-AllCams-v1 + video: true + video_cameras: + - hand_camera + - base_camera +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: "" +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: 100000 + seed: 0 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts/wandb/run-20260824_173023-lqymm44b/files/output.log b/rollouts/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts/wandb/run-20260824_173023-lqymm44b/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..50cf49d7d22bc56de5c78785d60df5046362d739 --- /dev/null +++ b/rollouts/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts/wandb/run-20260824_173023-lqymm44b/files/output.log @@ -0,0 +1,56 @@ +2026-08-24 17:30:24,189 - mani_skill - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended +2026-08-24 17:30:25,327 - mani_skill - WARNING - No initial pose set for actor builder of sphere, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-08-24 17:30:25,328 - mani_skill - WARNING - No initial pose set for actor builder of bin, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_place_sphere_20_vigdagger20_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +Loading weights: 100%|██████████| 223/223 [00:00<00:00, 23005.95it/s] +[extract_model_images] camera_names=['hand_camera', 'base_camera'] per_camera_shapes=[(10, 3, 256, 256), (10, 3, 256, 256)] return_shape=(10, 2, 3, 256, 256) +[ckpt_step_0100000] rollout 1/50: success=True steps=118 env=0 +[ckpt_step_0100000] rollout 2/50: success=True steps=123 env=6 +[ckpt_step_0100000] rollout 3/50: success=True steps=139 env=2 +[ckpt_step_0100000] rollout 4/50: success=True steps=139 env=9 +[ckpt_step_0100000] rollout 5/50: success=True steps=162 env=4 +[ckpt_step_0100000] rollout 6/50: success=True steps=178 env=3 +[ckpt_step_0100000] rollout 7/50: success=True steps=91 env=0 +[ckpt_step_0100000] rollout 8/50: success=True steps=126 env=3 +[ckpt_step_0100000] rollout 9/50: success=True steps=164 env=4 +[ckpt_step_0100000] rollout 10/50: success=True steps=123 env=0 +[ckpt_step_0100000] rollout 11/50: success=False steps=400 env=1 +[ckpt_step_0100000] rollout 12/50: success=False steps=400 env=5 +[ckpt_step_0100000] rollout 13/50: success=False steps=400 env=7 +[ckpt_step_0100000] rollout 14/50: success=False steps=400 env=8 +[ckpt_step_0100000] rollout 15/50: success=True steps=101 env=3 +[ckpt_step_0100000] rollout 16/50: success=True steps=299 env=6 +[ckpt_step_0100000] rollout 17/50: success=True steps=156 env=0 +[ckpt_step_0100000] rollout 18/50: success=True steps=116 env=7 +[ckpt_step_0100000] rollout 19/50: success=False steps=400 env=2 +[ckpt_step_0100000] rollout 20/50: success=False steps=400 env=9 +[ckpt_step_0100000] rollout 21/50: success=True steps=148 env=5 +[ckpt_step_0100000] rollout 22/50: success=True steps=169 env=1 +[ckpt_step_0100000] rollout 23/50: success=False steps=400 env=4 +[ckpt_step_0100000] rollout 24/50: success=False steps=400 env=8 +[ckpt_step_0100000] rollout 25/50: success=False steps=400 env=3 +[ckpt_step_0100000] rollout 26/50: success=False steps=400 env=6 +[ckpt_step_0100000] rollout 27/50: success=False steps=400 env=0 +[ckpt_step_0100000] rollout 28/50: success=True steps=107 env=8 +[ckpt_step_0100000] rollout 29/50: success=False steps=400 env=7 +[ckpt_step_0100000] rollout 30/50: success=False steps=400 env=2 +[ckpt_step_0100000] rollout 31/50: success=False steps=400 env=9 +[ckpt_step_0100000] rollout 32/50: success=False steps=400 env=5 +[ckpt_step_0100000] rollout 33/50: success=False steps=400 env=1 +[ckpt_step_0100000] rollout 34/50: success=True steps=166 env=3 +[ckpt_step_0100000] rollout 35/50: success=True steps=228 env=6 +[ckpt_step_0100000] rollout 36/50: success=True steps=113 env=9 +[ckpt_step_0100000] rollout 37/50: success=True steps=340 env=4 +[ckpt_step_0100000] rollout 38/50: success=True steps=107 env=3 +[ckpt_step_0100000] rollout 39/50: success=True steps=145 env=2 +[ckpt_step_0100000] rollout 40/50: success=True steps=122 env=1 +[ckpt_step_0100000] rollout 41/50: success=True steps=131 env=6 +[ckpt_step_0100000] rollout 42/50: success=True steps=139 env=3 +[ckpt_step_0100000] rollout 43/50: success=True steps=151 env=2 +[ckpt_step_0100000] rollout 44/50: success=False steps=400 env=0 +[ckpt_step_0100000] rollout 45/50: success=False steps=400 env=8 +[ckpt_step_0100000] rollout 46/50: success=False steps=400 env=7 +[ckpt_step_0100000] rollout 47/50: success=False steps=400 env=5 +[ckpt_step_0100000] rollout 48/50: success=True steps=155 env=3 +[ckpt_step_0100000] rollout 49/50: success=False steps=400 env=9 +[ckpt_step_0100000] rollout 50/50: success=True steps=145 env=7 diff --git a/rollouts/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts/wandb/run-20260824_173023-lqymm44b/files/requirements.txt b/rollouts/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts/wandb/run-20260824_173023-lqymm44b/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a1cf38db7dae7c26582d5228c53a2dc93039f5db --- /dev/null +++ b/rollouts/sd0_place_sphere_20_vigdagger20_flow_train/sd0_50_rollouts/wandb/run-20260824_173023-lqymm44b/files/requirements.txt @@ -0,0 +1,122 @@ +robopolicy==0.1.0 +psutil==7.2.2 +pytorch-seed==0.2.0 +nvidia-cuda-runtime==13.0.96 +annotated-doc==0.0.4 +filelock==3.30.2 +dacite==1.9.2 +Pygments==2.20.0 +mdurl==0.1.2 +kiwisolver==1.5.0 +gymnasium==1.3.0 +sapien==3.0.3 +fsspec==2026.6.0 +nvidia-nvjitlink==13.3.33 +httpx==0.28.1 +ipython==9.15.0 +sentry-sdk==2.66.0 +contourpy==1.3.3 +torch==2.13.0+cu130 +protobuf==7.35.1 +ImageIO==2.37.3 +networkx==3.6.1 +requests==2.34.2 +transformers==5.14.1 +tokenizers==0.22.2 +anyio==4.14.2 +regex==2026.7.10 +asttokens==3.0.2 +httpcore==1.0.9 +fonttools==4.63.0 +cycler==0.12.1 +cuda-pathfinder==1.5.6 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"videos": [ + "/home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0049/left.mp4", + "/home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0049/wrist.mp4" + ], + "stage_drawer_opened": true, + "stage_charger_picked": false, + "stage_charger_placed": false, + "stage_drawer_closed": false + } + ], + "partial_rollouts": [] + } + ] +} \ No newline at end of file diff --git a/rollouts/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/results.txt b/rollouts/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..544c4869fa8e97c7cc51d4b40e002b6e576a32a0 --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_20_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=0.0200 success_count=1/50 mean_episode_length=1191.28 stage_drawer_opened=0.1600(8/50) stage_charger_picked=0.0200(1/50) stage_charger_placed=0.0200(1/50) stage_drawer_closed=0.0200(1/50) stage_drawer_opened_conditional=0.1600(8/50) stage_charger_picked_conditional=0.1250(1/8) stage_charger_placed_conditional=1.0000(1/1) stage_drawer_closed_conditional=1.0000(1/1) +ckpt_step_0020000: step=20000 success_rate=0.1200 success_count=6/50 mean_episode_length=1151.26 stage_drawer_opened=0.8400(42/50) stage_charger_picked=0.2600(13/50) stage_charger_placed=0.1400(7/50) stage_drawer_closed=0.1200(6/50) stage_drawer_opened_conditional=0.8400(42/50) stage_charger_picked_conditional=0.3095(13/42) stage_charger_placed_conditional=0.5385(7/13) stage_drawer_closed_conditional=0.8571(6/7) +ckpt_step_0030000: step=30000 success_rate=0.0400 success_count=2/50 mean_episode_length=1179.48 stage_drawer_opened=0.7600(38/50) stage_charger_picked=0.0600(3/50) stage_charger_placed=0.0600(3/50) stage_drawer_closed=0.0400(2/50) stage_drawer_opened_conditional=0.7600(38/50) stage_charger_picked_conditional=0.0789(3/38) stage_charger_placed_conditional=1.0000(3/3) stage_drawer_closed_conditional=0.6667(2/3) +ckpt_step_0040000: step=40000 success_rate=0.2200 success_count=11/50 mean_episode_length=1119.72 stage_drawer_opened=0.7600(38/50) stage_charger_picked=0.3200(16/50) stage_charger_placed=0.2400(12/50) stage_drawer_closed=0.2200(11/50) stage_drawer_opened_conditional=0.7600(38/50) stage_charger_picked_conditional=0.4211(16/38) stage_charger_placed_conditional=0.7500(12/16) stage_drawer_closed_conditional=0.9167(11/12) +ckpt_step_0050000: step=50000 success_rate=0.1400 success_count=7/50 mean_episode_length=1131.56 stage_drawer_opened=0.7800(39/50) 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=0.7800(39/50) stage_charger_picked_conditional=0.2821(11/39) stage_charger_placed_conditional=0.6364(7/11) stage_drawer_closed_conditional=1.0000(7/7) +ckpt_step_0060000: step=60000 success_rate=0.1000 success_count=5/50 mean_episode_length=1169.86 stage_drawer_opened=0.7400(37/50) stage_charger_picked=0.1600(8/50) stage_charger_placed=0.1600(8/50) stage_drawer_closed=0.1000(5/50) stage_drawer_opened_conditional=0.7400(37/50) stage_charger_picked_conditional=0.2162(8/37) stage_charger_placed_conditional=1.0000(8/8) stage_drawer_closed_conditional=0.6250(5/8) +ckpt_step_0070000: step=70000 success_rate=0.0800 success_count=4/50 mean_episode_length=1172.48 stage_drawer_opened=0.7000(35/50) stage_charger_picked=0.1800(9/50) stage_charger_placed=0.1200(6/50) stage_drawer_closed=0.0800(4/50) stage_drawer_opened_conditional=0.7000(35/50) stage_charger_picked_conditional=0.2571(9/35) stage_charger_placed_conditional=0.6667(6/9) stage_drawer_closed_conditional=0.6667(4/6) +ckpt_step_0080000: step=80000 success_rate=0.0400 success_count=2/50 mean_episode_length=1177.80 stage_drawer_opened=0.7000(35/50) stage_charger_picked=0.0600(3/50) stage_charger_placed=0.0400(2/50) stage_drawer_closed=0.0400(2/50) stage_drawer_opened_conditional=0.7000(35/50) stage_charger_picked_conditional=0.0857(3/35) stage_charger_placed_conditional=0.6667(2/3) stage_drawer_closed_conditional=1.0000(2/2) +ckpt_step_0090000: step=90000 success_rate=0.0400 success_count=2/50 mean_episode_length=1182.38 stage_drawer_opened=0.6600(33/50) stage_charger_picked=0.1000(5/50) stage_charger_placed=0.1000(5/50) stage_drawer_closed=0.0400(2/50) stage_drawer_opened_conditional=0.6600(33/50) stage_charger_picked_conditional=0.1515(5/33) stage_charger_placed_conditional=1.0000(5/5) stage_drawer_closed_conditional=0.4000(2/5) +ckpt_final: step=100000 success_rate=0.0600 success_count=3/50 mean_episode_length=1176.30 stage_drawer_opened=0.7000(35/50) stage_charger_picked=0.1600(8/50) stage_charger_placed=0.1000(5/50) stage_drawer_closed=0.0600(3/50) stage_drawer_opened_conditional=0.7000(35/50) stage_charger_picked_conditional=0.2286(8/35) stage_charger_placed_conditional=0.6250(5/8) stage_drawer_closed_conditional=0.6000(3/5) +ckpt_step_0100000: step=100000 success_rate=0.0000 success_count=0/50 mean_episode_length=1200.00 stage_drawer_opened=0.6800(34/50) stage_charger_picked=0.0800(4/50) stage_charger_placed=0.0200(1/50) stage_drawer_closed=0.0000(0/50) stage_drawer_opened_conditional=0.6800(34/50) stage_charger_picked_conditional=0.1176(4/34) stage_charger_placed_conditional=0.2500(1/4) stage_drawer_closed_conditional=0.0000(0/1) diff --git a/rollouts/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/wandb/run-20260621_220527-9fw5xny6/files/config.yaml b/rollouts/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/wandb/run-20260621_220527-9fw5xny6/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..41f6eeef07517f5f401e89366a46e30ada6c21df --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/wandb/run-20260621_220527-9fw5xny6/files/config.yaml @@ -0,0 +1,248 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + iiudvbwdhz6rr58szvk3gkgr0rrd6dt1: + 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_small_new_opendrawer_20_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd0_small_new_opendrawer_20_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: "626072940544" + 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_small_new_opendrawer_20_flow_train/sd0_50_rollouts + startedAt: "2026-06-22T05:05:27.201569Z" + writerId: iiudvbwdhz6rr58szvk3gkgr0rrd6dt1 + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 41 + - 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_20 + 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_small_new_opendrawer_20_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_flow + run_name: sd0_small_new_opendrawer_20 +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_small_new_opendrawer_20_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 diff --git a/rollouts/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/wandb/run-20260621_220527-9fw5xny6/files/output.log b/rollouts/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/wandb/run-20260621_220527-9fw5xny6/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..2982bd2dea8911544f86b614efd1622477e83239 --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/wandb/run-20260621_220527-9fw5xny6/files/output.log @@ -0,0 +1,1276 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-21_22-05-28.log +====================================================================================== + +22:05:28 [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: + Environment device : cpu + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.016666666666666666 + Environment step-size : 0.016666666666666666 +22:05:28 [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 : 0.632023 seconds +[INFO]: Scene manager: + 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 : 4.168976 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/checkpoints/ckpt_step_0010000.pt (step=10000) +[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 [5] +[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 [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[ckpt_step_0010000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 11/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 12/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 13/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 14/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 15/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 21/50: success=True steps=764 env=3 +[ckpt_step_0010000] rollout 22/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 23/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 24/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 25/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 26/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 27/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 31/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 32/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 33/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 34/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 35/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 36/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 37/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 38/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 41/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 42/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 43/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 44/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 45/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 46/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 47/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 48/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/checkpoints/ckpt_step_0020000.pt (step=20000) +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[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 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3, 5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer 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 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 [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up 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 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer 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] +[ckpt_step_0020000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 11/50: success=True steps=1011 env=4 +[ckpt_step_0020000] rollout 12/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 21/50: success=True steps=725 env=1 +[ckpt_step_0020000] rollout 22/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 23/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 24/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 25/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 26/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 27/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 31/50: success=True steps=606 env=1 +[ckpt_step_0020000] rollout 32/50: success=True steps=787 env=4 +[ckpt_step_0020000] rollout 33/50: success=True steps=754 env=1 +[ckpt_step_0020000] rollout 34/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 35/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 36/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 38/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 39/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 41/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 42/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 43/50: success=True steps=880 env=6 +[ckpt_step_0020000] rollout 44/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 45/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 46/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 47/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 48/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 49/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 50/50: success=False steps=1200 env=8 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/checkpoints/ckpt_step_0030000.pt (step=30000) +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [2] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1, 9] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 [4] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[ckpt_step_0030000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 11/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 12/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 13/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 14/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 15/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 21/50: success=True steps=681 env=1 +[ckpt_step_0030000] rollout 22/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 23/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 24/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 25/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 26/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 27/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 31/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 32/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 33/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 34/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 35/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 36/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 37/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 38/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 41/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 42/50: success=True steps=693 env=0 +[ckpt_step_0030000] rollout 43/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 44/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 45/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 46/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 47/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 48/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/checkpoints/ckpt_step_0040000.pt (step=40000) +[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 [1] +[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 [9] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6, 8] +[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 [3] +[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 [1] +[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 [3] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up 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 [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[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 [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[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 [3] +[ckpt_step_0040000] rollout 1/50: success=True steps=763 env=6 +[ckpt_step_0040000] rollout 2/50: success=True steps=1029 env=3 +[ckpt_step_0040000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 4/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 5/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 11/50: success=True steps=758 env=8 +[ckpt_step_0040000] rollout 12/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 13/50: success=True steps=948 env=5 +[ckpt_step_0040000] rollout 14/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 15/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 16/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 17/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 18/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 21/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 22/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 23/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 24/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 25/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 26/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 27/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 28/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 31/50: success=True steps=729 env=1 +[ckpt_step_0040000] rollout 32/50: success=True steps=745 env=2 +[ckpt_step_0040000] rollout 33/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 34/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 35/50: success=True steps=941 env=4 +[ckpt_step_0040000] rollout 36/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 37/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 38/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 39/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 41/50: success=True steps=805 env=8 +[ckpt_step_0040000] rollout 42/50: success=True steps=690 env=4 +[ckpt_step_0040000] rollout 43/50: success=True steps=718 env=5 +[ckpt_step_0040000] rollout 44/50: success=True steps=1060 env=2 +[ckpt_step_0040000] rollout 45/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 46/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 47/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 48/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 49/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/checkpoints/ckpt_step_0050000.pt (step=50000) +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [0] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [8] +[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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[ckpt_step_0050000] rollout 1/50: success=True steps=606 env=2 +[ckpt_step_0050000] rollout 2/50: success=True steps=664 env=6 +[ckpt_step_0050000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 4/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 11/50: success=True steps=686 env=2 +[ckpt_step_0050000] rollout 12/50: success=True steps=1038 env=6 +[ckpt_step_0050000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 17/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 21/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 22/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 23/50: success=True steps=732 env=8 +[ckpt_step_0050000] rollout 24/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 28/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 31/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 32/50: success=True steps=670 env=8 +[ckpt_step_0050000] rollout 33/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 34/50: success=True steps=582 env=3 +[ckpt_step_0050000] rollout 35/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 36/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 37/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 38/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 39/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 41/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 42/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 43/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 44/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 45/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 46/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 47/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 48/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 49/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/checkpoints/ckpt_step_0060000.pt (step=60000) +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [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 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[ckpt_step_0060000] rollout 1/50: success=True steps=1157 env=5 +[ckpt_step_0060000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 11/50: success=True steps=590 env=0 +[ckpt_step_0060000] rollout 12/50: success=True steps=992 env=9 +[ckpt_step_0060000] rollout 13/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 16/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 21/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 22/50: success=True steps=730 env=6 +[ckpt_step_0060000] rollout 23/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 24/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 26/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 27/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 28/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 31/50: success=True steps=1024 env=6 +[ckpt_step_0060000] rollout 32/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 33/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 34/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 35/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 36/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 37/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 38/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 39/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 41/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 42/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 43/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 44/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 45/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 46/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 47/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 48/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 49/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 50/50: success=False steps=1200 env=8 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/checkpoints/ckpt_step_0070000.pt (step=70000) +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[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 [3, 6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[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 [8] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[ckpt_step_0070000] rollout 1/50: success=True steps=927 env=7 +[ckpt_step_0070000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 11/50: success=True steps=765 env=8 +[ckpt_step_0070000] rollout 12/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 16/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 18/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 19/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 21/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 22/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 23/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 25/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 28/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 31/50: success=True steps=988 env=8 +[ckpt_step_0070000] rollout 32/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 33/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 34/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 35/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 36/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 37/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 38/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 41/50: success=True steps=744 env=8 +[ckpt_step_0070000] rollout 42/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 43/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 44/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 45/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 46/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 47/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 48/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 49/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/checkpoints/ckpt_step_0080000.pt (step=80000) +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [2] +[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 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 [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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [1] +[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 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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[ckpt_step_0080000] rollout 1/50: success=True steps=615 env=2 +[ckpt_step_0080000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 11/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 12/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 14/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 15/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 21/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 22/50: success=True steps=675 env=7 +[ckpt_step_0080000] rollout 23/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 25/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 26/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 31/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 32/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 33/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 34/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 35/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 36/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 38/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 41/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 42/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 43/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 44/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 45/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 47/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 48/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/checkpoints/ckpt_step_0090000.pt (step=90000) +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [7] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[ckpt_step_0090000] rollout 1/50: success=True steps=701 env=7 +[ckpt_step_0090000] rollout 2/50: success=True steps=818 env=2 +[ckpt_step_0090000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 4/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 11/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 12/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 17/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 21/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 22/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 23/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 25/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 26/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 31/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 32/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 33/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 34/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 35/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 36/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 38/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 41/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 42/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 43/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 44/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 45/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 47/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 48/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/checkpoints/ckpt_final.pt (step=100000) +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [1] +[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 [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[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 [6] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[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 [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[ckpt_final] rollout 1/50: success=False steps=1200 env=0 +[ckpt_final] rollout 2/50: success=False steps=1200 env=1 +[ckpt_final] rollout 3/50: success=False steps=1200 env=2 +[ckpt_final] rollout 4/50: success=False steps=1200 env=3 +[ckpt_final] rollout 5/50: success=False steps=1200 env=4 +[ckpt_final] rollout 6/50: success=False steps=1200 env=5 +[ckpt_final] rollout 7/50: success=False steps=1200 env=6 +[ckpt_final] rollout 8/50: success=False steps=1200 env=7 +[ckpt_final] rollout 9/50: success=False steps=1200 env=8 +[ckpt_final] rollout 10/50: success=False steps=1200 env=9 +[ckpt_final] rollout 11/50: success=True steps=813 env=4 +[ckpt_final] rollout 12/50: success=False steps=1200 env=0 +[ckpt_final] rollout 13/50: success=False steps=1200 env=1 +[ckpt_final] rollout 14/50: success=False steps=1200 env=2 +[ckpt_final] rollout 15/50: success=False steps=1200 env=3 +[ckpt_final] rollout 16/50: success=False steps=1200 env=5 +[ckpt_final] rollout 17/50: success=False steps=1200 env=6 +[ckpt_final] rollout 18/50: success=False steps=1200 env=7 +[ckpt_final] rollout 19/50: success=False steps=1200 env=8 +[ckpt_final] rollout 20/50: success=False steps=1200 env=9 +[ckpt_final] rollout 21/50: success=False steps=1200 env=4 +[ckpt_final] rollout 22/50: success=True steps=852 env=3 +[ckpt_final] rollout 23/50: success=False steps=1200 env=0 +[ckpt_final] rollout 24/50: success=False steps=1200 env=1 +[ckpt_final] rollout 25/50: success=False steps=1200 env=2 +[ckpt_final] rollout 26/50: success=False steps=1200 env=5 +[ckpt_final] rollout 27/50: success=False steps=1200 env=6 +[ckpt_final] rollout 28/50: success=False steps=1200 env=7 +[ckpt_final] rollout 29/50: success=False steps=1200 env=8 +[ckpt_final] rollout 30/50: success=False steps=1200 env=9 +[ckpt_final] rollout 31/50: success=True steps=750 env=0 +[ckpt_final] rollout 32/50: success=False steps=1200 env=4 +[ckpt_final] rollout 33/50: success=False steps=1200 env=3 +[ckpt_final] rollout 34/50: success=False steps=1200 env=1 +[ckpt_final] rollout 35/50: success=False steps=1200 env=2 +[ckpt_final] rollout 36/50: success=False steps=1200 env=5 +[ckpt_final] rollout 37/50: success=False steps=1200 env=6 +[ckpt_final] rollout 38/50: success=False steps=1200 env=7 +[ckpt_final] rollout 39/50: success=False steps=1200 env=8 +[ckpt_final] rollout 40/50: success=False steps=1200 env=9 +[ckpt_final] rollout 41/50: success=False steps=1200 env=0 +[ckpt_final] rollout 42/50: success=False steps=1200 env=4 +[ckpt_final] rollout 43/50: success=False steps=1200 env=3 +[ckpt_final] rollout 44/50: success=False steps=1200 env=1 +[ckpt_final] rollout 45/50: success=False steps=1200 env=2 +[ckpt_final] rollout 46/50: success=False steps=1200 env=5 +[ckpt_final] rollout 47/50: success=False steps=1200 env=6 +[ckpt_final] rollout 48/50: success=False steps=1200 env=7 +[ckpt_final] rollout 49/50: success=False steps=1200 env=8 +[ckpt_final] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_20_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up 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 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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [2, 5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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=False steps=1200 env=0 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=7 +[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=False steps=1200 env=0 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=9 diff --git a/rollouts/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/wandb/run-20260621_220527-9fw5xny6/files/requirements.txt b/rollouts/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/wandb/run-20260621_220527-9fw5xny6/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_20_flow_train/sd0_50_rollouts/wandb/run-20260621_220527-9fw5xny6/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 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 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] +} \ No newline at end of file diff --git a/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/results.txt b/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..c1ca38b6fbab5503cbeadf146c074194b1a6c592 --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_25_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=0.0600 success_count=3/50 mean_episode_length=1174.48 stage_drawer_opened=0.6000(30/50) stage_charger_picked=0.1200(6/50) stage_charger_placed=0.1200(6/50) stage_drawer_closed=0.0600(3/50) stage_drawer_opened_conditional=0.6000(30/50) stage_charger_picked_conditional=0.2000(6/30) stage_charger_placed_conditional=1.0000(6/6) stage_drawer_closed_conditional=0.5000(3/6) +ckpt_step_0020000: step=20000 success_rate=0.1200 success_count=6/50 mean_episode_length=1141.04 stage_drawer_opened=0.7800(39/50) stage_charger_picked=0.2000(10/50) stage_charger_placed=0.1600(8/50) stage_drawer_closed=0.1200(6/50) stage_drawer_opened_conditional=0.7800(39/50) stage_charger_picked_conditional=0.2564(10/39) stage_charger_placed_conditional=0.8000(8/10) stage_drawer_closed_conditional=0.7500(6/8) +ckpt_step_0030000: step=30000 success_rate=0.1400 success_count=7/50 mean_episode_length=1139.06 stage_drawer_opened=0.9000(45/50) stage_charger_picked=0.2600(13/50) stage_charger_placed=0.2400(12/50) stage_drawer_closed=0.1400(7/50) stage_drawer_opened_conditional=0.9000(45/50) stage_charger_picked_conditional=0.2889(13/45) stage_charger_placed_conditional=0.9231(12/13) stage_drawer_closed_conditional=0.5833(7/12) +ckpt_step_0040000: step=40000 success_rate=0.1800 success_count=9/50 mean_episode_length=1122.18 stage_drawer_opened=0.8200(41/50) stage_charger_picked=0.3600(18/50) stage_charger_placed=0.2600(13/50) stage_drawer_closed=0.1800(9/50) stage_drawer_opened_conditional=0.8200(41/50) stage_charger_picked_conditional=0.4390(18/41) stage_charger_placed_conditional=0.7222(13/18) stage_drawer_closed_conditional=0.6923(9/13) +ckpt_step_0050000: step=50000 success_rate=0.1600 success_count=8/50 mean_episode_length=1140.66 stage_drawer_opened=0.8200(41/50) stage_charger_picked=0.2200(11/50) stage_charger_placed=0.2200(11/50) stage_drawer_closed=0.1600(8/50) stage_drawer_opened_conditional=0.8200(41/50) stage_charger_picked_conditional=0.2683(11/41) stage_charger_placed_conditional=1.0000(11/11) stage_drawer_closed_conditional=0.7273(8/11) +ckpt_step_0060000: step=60000 success_rate=0.1000 success_count=5/50 mean_episode_length=1157.18 stage_drawer_opened=0.9600(48/50) stage_charger_picked=0.1800(9/50) stage_charger_placed=0.1600(8/50) stage_drawer_closed=0.1000(5/50) stage_drawer_opened_conditional=0.9600(48/50) stage_charger_picked_conditional=0.1875(9/48) stage_charger_placed_conditional=0.8889(8/9) stage_drawer_closed_conditional=0.6250(5/8) +ckpt_step_0070000: step=70000 success_rate=0.1000 success_count=5/50 mean_episode_length=1160.36 stage_drawer_opened=0.8200(41/50) stage_charger_picked=0.1600(8/50) stage_charger_placed=0.1000(5/50) stage_drawer_closed=0.1000(5/50) stage_drawer_opened_conditional=0.8200(41/50) stage_charger_picked_conditional=0.1951(8/41) stage_charger_placed_conditional=0.6250(5/8) stage_drawer_closed_conditional=1.0000(5/5) +ckpt_step_0080000: step=80000 success_rate=0.1800 success_count=9/50 mean_episode_length=1127.88 stage_drawer_opened=0.7200(36/50) stage_charger_picked=0.2000(10/50) stage_charger_placed=0.2000(10/50) stage_drawer_closed=0.1800(9/50) stage_drawer_opened_conditional=0.7200(36/50) stage_charger_picked_conditional=0.2778(10/36) stage_charger_placed_conditional=1.0000(10/10) stage_drawer_closed_conditional=0.9000(9/10) +ckpt_step_0090000: step=90000 success_rate=0.2400 success_count=12/50 mean_episode_length=1099.38 stage_drawer_opened=0.8800(44/50) stage_charger_picked=0.2600(13/50) stage_charger_placed=0.2600(13/50) stage_drawer_closed=0.2400(12/50) stage_drawer_opened_conditional=0.8800(44/50) stage_charger_picked_conditional=0.2955(13/44) stage_charger_placed_conditional=1.0000(13/13) stage_drawer_closed_conditional=0.9231(12/13) +ckpt_final: step=100000 success_rate=0.2000 success_count=10/50 mean_episode_length=1105.42 stage_drawer_opened=0.8400(42/50) stage_charger_picked=0.2400(12/50) stage_charger_placed=0.2200(11/50) stage_drawer_closed=0.2000(10/50) stage_drawer_opened_conditional=0.8400(42/50) stage_charger_picked_conditional=0.2857(12/42) stage_charger_placed_conditional=0.9167(11/12) stage_drawer_closed_conditional=0.9091(10/11) +ckpt_step_0100000: step=100000 success_rate=0.0600 success_count=3/50 mean_episode_length=1173.88 stage_drawer_opened=0.8200(41/50) stage_charger_picked=0.1600(8/50) stage_charger_placed=0.0800(4/50) stage_drawer_closed=0.0600(3/50) stage_drawer_opened_conditional=0.8200(41/50) stage_charger_picked_conditional=0.1951(8/41) stage_charger_placed_conditional=0.5000(4/8) stage_drawer_closed_conditional=0.7500(3/4) diff --git a/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/config.yaml b/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9fd601c6665cb38d58c4cdcd78c05dcd56917698 --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/config.yaml @@ -0,0 +1,247 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + l0jwe2bkeaq5oqjci79c7chqb959s74e: + 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_small_new_opendrawer_25_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd0_small_new_opendrawer_25_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: "323403042816" + email: chengenwu@berkeley.edu + executable: /home/david/Document/env_isaaclab/bin/python + git: + commit: 1bb39deb18a25f1eab122cdedfbca898baff4d4a + 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_small_new_opendrawer_25_flow_train/sd0_50_rollouts + startedAt: "2026-06-12T00:46:06.069737Z" + writerId: l0jwe2bkeaq5oqjci79c7chqb959s74e + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_25 + 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_small_new_opendrawer_25_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_flow + run_name: sd0_small_new_opendrawer_25 +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_small_new_opendrawer_25_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 diff --git a/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/output.log b/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..0371460f1a43644b6b87536adbfaf51cdcd9a301 --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/output.log @@ -0,0 +1,1492 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-11_17-46-06.log +====================================================================================== + +17:46:06 [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 +17:46:07 [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 : 0.535083 seconds +[INFO]: Scene manager: + 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 : 4.210745 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_25_flow_train/checkpoints/ckpt_step_0010000.pt (step=10000) +[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 [7] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened 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 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 [8] +[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 [9] +[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 [7] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [7] +[ckpt_step_0010000] rollout 1/50: success=True steps=810 env=7 +[ckpt_step_0010000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 11/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 12/50: success=True steps=810 env=8 +[ckpt_step_0010000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 16/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 18/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 19/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 21/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 22/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 23/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 25/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 28/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 31/50: success=True steps=704 env=3 +[ckpt_step_0010000] rollout 32/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 33/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 34/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 35/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 36/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 37/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 38/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 41/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 42/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 43/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 44/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 45/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 46/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 47/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 48/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 49/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_25_flow_train/checkpoints/ckpt_step_0020000.pt (step=20000) +[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 [0] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer 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 [9] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [0] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[ckpt_step_0020000] rollout 1/50: success=True steps=896 env=9 +[ckpt_step_0020000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 11/50: success=True steps=602 env=1 +[ckpt_step_0020000] rollout 12/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 17/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 21/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 22/50: success=True steps=707 env=4 +[ckpt_step_0020000] rollout 23/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 24/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 25/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 31/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 32/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 33/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 34/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 35/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 36/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 38/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 39/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 41/50: success=True steps=581 env=9 +[ckpt_step_0020000] rollout 42/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 43/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 44/50: success=True steps=731 env=8 +[ckpt_step_0020000] rollout 45/50: success=True steps=735 env=2 +[ckpt_step_0020000] rollout 46/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 47/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 48/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 49/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 50/50: success=False steps=1200 env=7 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_25_flow_train/checkpoints/ckpt_step_0030000.pt (step=30000) +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up 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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [9] +[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 3 charger placed in drawer success reached for envs [9] +[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 [9] +[OpenDrawer] stage 1 drawer opened 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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[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 [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened 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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[ckpt_step_0030000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 11/50: success=True steps=731 env=5 +[ckpt_step_0030000] rollout 12/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 21/50: success=True steps=689 env=0 +[ckpt_step_0030000] rollout 22/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 23/50: success=True steps=864 env=9 +[ckpt_step_0030000] rollout 24/50: success=True steps=930 env=8 +[ckpt_step_0030000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 26/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 27/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 28/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 30/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 31/50: success=True steps=666 env=9 +[ckpt_step_0030000] rollout 32/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 33/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 34/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 35/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 36/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 37/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 38/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 40/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 41/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 42/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 43/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 44/50: success=True steps=735 env=7 +[ckpt_step_0030000] rollout 45/50: success=True steps=738 env=1 +[ckpt_step_0030000] rollout 46/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 47/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 48/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 49/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 50/50: success=False steps=1200 env=6 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_25_flow_train/checkpoints/ckpt_step_0040000.pt (step=40000) +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1, 3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer 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 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5, 7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[ckpt_step_0040000] rollout 1/50: success=True steps=763 env=3 +[ckpt_step_0040000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 11/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 12/50: success=True steps=833 env=9 +[ckpt_step_0040000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 17/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 21/50: success=True steps=798 env=3 +[ckpt_step_0040000] rollout 22/50: success=True steps=658 env=8 +[ckpt_step_0040000] rollout 23/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 24/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 26/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 28/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 30/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 31/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 32/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 33/50: success=True steps=736 env=2 +[ckpt_step_0040000] rollout 34/50: success=True steps=752 env=7 +[ckpt_step_0040000] rollout 35/50: success=True steps=797 env=5 +[ckpt_step_0040000] rollout 36/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 37/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 38/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 39/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 40/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 41/50: success=True steps=748 env=2 +[ckpt_step_0040000] rollout 42/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 43/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 44/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 45/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 46/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 47/50: success=True steps=824 env=2 +[ckpt_step_0040000] rollout 48/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 49/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 50/50: success=False steps=1200 env=4 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_25_flow_train/checkpoints/ckpt_step_0050000.pt (step=50000) +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[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 [6] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[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 [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[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 [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[ckpt_step_0050000] rollout 1/50: success=True steps=763 env=3 +[ckpt_step_0050000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 11/50: success=True steps=1177 env=3 +[ckpt_step_0050000] rollout 12/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 15/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 21/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 22/50: success=True steps=745 env=2 +[ckpt_step_0050000] rollout 23/50: success=True steps=790 env=5 +[ckpt_step_0050000] rollout 24/50: success=True steps=836 env=6 +[ckpt_step_0050000] rollout 25/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 26/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 31/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 32/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 33/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 34/50: success=True steps=801 env=7 +[ckpt_step_0050000] rollout 35/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 36/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 37/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 38/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 41/50: success=True steps=764 env=6 +[ckpt_step_0050000] rollout 42/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 43/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 44/50: success=True steps=757 env=4 +[ckpt_step_0050000] rollout 45/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 46/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 47/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 48/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_25_flow_train/checkpoints/ckpt_step_0060000.pt (step=60000) +[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 [2] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [9] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[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 1 drawer opened success reached for envs [7] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[ckpt_step_0060000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 11/50: success=True steps=681 env=7 +[ckpt_step_0060000] rollout 12/50: success=True steps=759 env=9 +[ckpt_step_0060000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 16/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 18/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 19/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 21/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 22/50: success=True steps=753 env=0 +[ckpt_step_0060000] rollout 23/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 24/50: success=True steps=860 env=8 +[ckpt_step_0060000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 26/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 27/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 28/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 29/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 30/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 31/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 32/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 33/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 34/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 35/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 36/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 37/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 38/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 39/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 40/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 41/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 42/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 43/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 44/50: success=True steps=806 env=2 +[ckpt_step_0060000] rollout 45/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 46/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 47/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 48/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 49/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 50/50: success=False steps=1200 env=6 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_25_flow_train/checkpoints/ckpt_step_0070000.pt (step=70000) +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [9] +[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 [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[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 [8] +[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 [1] +[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 [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[ckpt_step_0070000] rollout 1/50: success=True steps=702 env=7 +[ckpt_step_0070000] rollout 2/50: success=True steps=709 env=8 +[ckpt_step_0070000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 4/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 5/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 6/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 7/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 8/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 9/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 11/50: success=True steps=918 env=7 +[ckpt_step_0070000] rollout 12/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 16/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 18/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 19/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 21/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 22/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 23/50: success=True steps=841 env=0 +[ckpt_step_0070000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 25/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 28/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 31/50: success=True steps=848 env=7 +[ckpt_step_0070000] rollout 32/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 33/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 34/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 35/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 36/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 37/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 38/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 41/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 42/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 43/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 44/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 45/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 46/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 47/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 48/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 49/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_25_flow_train/checkpoints/ckpt_step_0080000.pt (step=80000) +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[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 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[ckpt_step_0080000] rollout 1/50: success=True steps=750 env=9 +[ckpt_step_0080000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 11/50: success=True steps=771 env=9 +[ckpt_step_0080000] rollout 12/50: success=True steps=689 env=6 +[ckpt_step_0080000] rollout 13/50: success=True steps=765 env=2 +[ckpt_step_0080000] rollout 14/50: success=True steps=810 env=0 +[ckpt_step_0080000] rollout 15/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 16/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 18/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 21/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 22/50: success=True steps=1164 env=6 +[ckpt_step_0080000] rollout 23/50: success=True steps=716 env=7 +[ckpt_step_0080000] rollout 24/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 25/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 26/50: success=True steps=820 env=3 +[ckpt_step_0080000] rollout 27/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 28/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 29/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 31/50: success=True steps=709 env=2 +[ckpt_step_0080000] rollout 32/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 33/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 34/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 35/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 36/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 37/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 38/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 39/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 41/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 42/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 43/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 44/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 45/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 46/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 47/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 48/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 49/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 50/50: success=False steps=1200 env=8 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_25_flow_train/checkpoints/ckpt_step_0090000.pt (step=90000) +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[ckpt_step_0090000] rollout 1/50: success=True steps=746 env=4 +[ckpt_step_0090000] rollout 2/50: success=True steps=872 env=6 +[ckpt_step_0090000] rollout 3/50: success=True steps=885 env=9 +[ckpt_step_0090000] rollout 4/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 5/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 6/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 7/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 8/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 11/50: success=True steps=719 env=1 +[ckpt_step_0090000] rollout 12/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 13/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 14/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 15/50: success=True steps=1112 env=8 +[ckpt_step_0090000] rollout 16/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 17/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 18/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 19/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 20/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 21/50: success=True steps=681 env=4 +[ckpt_step_0090000] rollout 22/50: success=True steps=779 env=1 +[ckpt_step_0090000] rollout 23/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 24/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 25/50: success=True steps=792 env=4 +[ckpt_step_0090000] rollout 26/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 27/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 28/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 29/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 30/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 31/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 32/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 33/50: success=True steps=670 env=9 +[ckpt_step_0090000] rollout 34/50: success=True steps=832 env=2 +[ckpt_step_0090000] rollout 35/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 36/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 37/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 38/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 39/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 40/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 41/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 42/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 43/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 44/50: success=True steps=654 env=5 +[ckpt_step_0090000] rollout 45/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 46/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 47/50: success=True steps=627 env=9 +[ckpt_step_0090000] rollout 48/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 50/50: success=False steps=1200 env=0 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_25_flow_train/checkpoints/ckpt_final.pt (step=100000) +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [8] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8, 9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5, 7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up 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 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[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 [6] +[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 [3] +[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 [1] +[OpenDrawer] stage 2 charger picked up 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 [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[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 [9] +[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 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[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 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[ckpt_final] rollout 1/50: success=False steps=1200 env=0 +[ckpt_final] rollout 2/50: success=False steps=1200 env=1 +[ckpt_final] rollout 3/50: success=False steps=1200 env=2 +[ckpt_final] rollout 4/50: success=False steps=1200 env=3 +[ckpt_final] rollout 5/50: success=False steps=1200 env=4 +[ckpt_final] rollout 6/50: success=False steps=1200 env=5 +[ckpt_final] rollout 7/50: success=False steps=1200 env=6 +[ckpt_final] rollout 8/50: success=False steps=1200 env=7 +[ckpt_final] rollout 9/50: success=False steps=1200 env=8 +[ckpt_final] rollout 10/50: success=False steps=1200 env=9 +[ckpt_final] rollout 11/50: success=True steps=731 env=4 +[ckpt_final] rollout 12/50: success=True steps=781 env=9 +[ckpt_final] rollout 13/50: success=True steps=869 env=8 +[ckpt_final] rollout 14/50: success=False steps=1200 env=0 +[ckpt_final] rollout 15/50: success=False steps=1200 env=1 +[ckpt_final] rollout 16/50: success=False steps=1200 env=2 +[ckpt_final] rollout 17/50: success=False steps=1200 env=3 +[ckpt_final] rollout 18/50: success=False steps=1200 env=5 +[ckpt_final] rollout 19/50: success=False steps=1200 env=6 +[ckpt_final] rollout 20/50: success=False steps=1200 env=7 +[ckpt_final] rollout 21/50: success=True steps=730 env=4 +[ckpt_final] rollout 22/50: success=True steps=709 env=8 +[ckpt_final] rollout 23/50: success=False steps=1200 env=9 +[ckpt_final] rollout 24/50: success=False steps=1200 env=0 +[ckpt_final] rollout 25/50: success=False steps=1200 env=1 +[ckpt_final] rollout 26/50: success=False steps=1200 env=2 +[ckpt_final] rollout 27/50: success=False steps=1200 env=3 +[ckpt_final] rollout 28/50: success=False steps=1200 env=5 +[ckpt_final] rollout 29/50: success=False steps=1200 env=6 +[ckpt_final] rollout 30/50: success=False steps=1200 env=7 +[ckpt_final] rollout 31/50: success=False steps=1200 env=4 +[ckpt_final] rollout 32/50: success=False steps=1200 env=8 +[ckpt_final] rollout 33/50: success=True steps=676 env=6 +[ckpt_final] rollout 34/50: success=True steps=699 env=7 +[ckpt_final] rollout 35/50: success=False steps=1200 env=9 +[ckpt_final] rollout 36/50: success=False steps=1200 env=0 +[ckpt_final] rollout 37/50: success=False steps=1200 env=1 +[ckpt_final] rollout 38/50: success=False steps=1200 env=2 +[ckpt_final] rollout 39/50: success=False steps=1200 env=3 +[ckpt_final] rollout 40/50: success=False steps=1200 env=5 +[ckpt_final] rollout 41/50: success=False steps=1200 env=4 +[ckpt_final] rollout 42/50: success=True steps=780 env=7 +[ckpt_final] rollout 43/50: success=False steps=1200 env=8 +[ckpt_final] rollout 44/50: success=True steps=641 env=1 +[ckpt_final] rollout 45/50: success=False steps=1200 env=6 +[ckpt_final] rollout 46/50: success=False steps=1200 env=9 +[ckpt_final] rollout 47/50: success=True steps=655 env=7 +[ckpt_final] rollout 48/50: success=False steps=1200 env=0 +[ckpt_final] rollout 49/50: success=False steps=1200 env=2 +[ckpt_final] rollout 50/50: success=False steps=1200 env=3 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_25_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5, 6] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [3] +[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 [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up 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 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [0] +[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 4 drawer closed with charger inside success reached for envs [9] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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=True steps=710 env=4 +[ckpt_step_0100000] rollout 22/50: success=True steps=729 env=5 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=3 +[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=False steps=1200 env=4 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 33/50: success=True steps=855 env=9 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 41/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 49/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=8 diff --git a/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/requirements.txt b/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/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 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 +gunicorn==23.0.0 +transformers==4.57.6 +omegaconf==2.3.0 +contourpy==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +azure-storage-blob==12.17.0 +ray==2.52.1 +tqdm==4.67.3 +PyYAML==6.0.2 +qdldl==0.1.7.post5 +gitdb==4.0.12 +qpsolvers==4.12.0 +wheel==0.47.0 +fastapi==0.115.7 +nvidia-cudnn-cu12==9.7.1.26 +sympy==1.14.0 +kiwisolver==1.4.4 +isaacsim-ros2==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.8.61 +aioboto3==15.1.0 +wandb==0.27.0 +numpy==1.26.4 +protobuf==7.35.0 +torchaudio==2.7.0 +nvidia-cufile-cu12==1.13.0.11 +certifi==2026.5.20 +attrs==25.1.0 +urllib3==2.7.0 +iniconfig==2.3.0 +cryptography==44.0.0 +isaacsim-replicator==5.1.0.0 +pytransform3d==3.15.0 +MarkupSafe==3.0.3 +opencv-python-headless==4.11.0.86 +setproctitle==1.3.7 +isaacsim-utils==5.1.0.0 +ptyprocess==0.7.0 +flatdict==4.1.0 +isaacsim-asset==5.1.0.0 +cffi==2.0.0 +skrl==2.1.0 +loop-rate-limiters==1.2.0 +nvidia-cublas-cu12==12.8.3.14 +GitPython==3.1.50 +Jinja2==3.1.6 +cmeel-urdfdom==3.1.1.1 +proglog==0.1.12 +isaaclab_rl==0.5.1 +s3transfer==0.13.1 +pin==2.7.0 +h5py==3.16.0 +widgetsnbextension==4.0.15 +decorator==5.3.1 +mpmath==1.3.0 +triton==3.3.0 +oauthlib==3.2.2 +Farama-Notifications==0.0.6 +llvmlite==0.42.0 +prompt_toolkit==3.0.52 +onnx-ir==0.2.1 +matplotlib==3.10.3 +einops==0.8.2 +warp-lang==1.13.0 +requests-oauthlib==1.3.1 +pypng==0.20220715.0 +pure_eval==0.2.3 +antlr4-python3-runtime==4.9.3 +matplotlib-inline==0.2.2 +ipywidgets==8.1.5 +safetensors==0.7.0 +flaky==3.8.1 +six==1.17.0 +idna==3.10 +nvidia-nccl-cu12==2.26.2 +dex_retargeting==0.4.6 diff --git a/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/wandb-metadata.json b/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..eb30bd8159226b593bf27528fc8349ff2e00818a --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/wandb-metadata.json @@ -0,0 +1,56 @@ +{ + "os": "Linux-7.0.0-22-generic-x86_64-with-glibc2.43", + "python": "CPython 3.11.15", + "startedAt": "2026-06-12T00:46:06.069737Z", + "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_small_new_opendrawer_25_flow_train/checkpoints", + "-o", + "output_name=sd0_50_rollouts", + "-o", + "wandb_run_name=sd0_small_new_opendrawer_25_eval_sd0_50_rollouts" + ], + "program": "/home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py", + "codePath": "scripts/eval/roboticsarmsim_eval.py", + "codePathLocal": "scripts/eval/roboticsarmsim_eval.py", + "git": { + "remote": "git@github.com:YixiaoWang7/robopolicy.git", + "commit": "1bb39deb18a25f1eab122cdedfbca898baff4d4a" + }, + "email": "chengenwu@berkeley.edu", + "root": "/home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts", + "host": "yixiao-G914", + "executable": "/home/david/Document/env_isaaclab/bin/python", + "cpu_count": 16, + "cpu_count_logical": 32, + "gpu": "NVIDIA GeForce RTX 5090", + "gpu_count": 1, + "disk": { + "/": { + "total": "1081101176832", + "used": "323403042816" + } + }, + "memory": { + "total": "65677729792" + }, + "gpu_nvidia": [ + { + "name": "NVIDIA GeForce RTX 5090", + "memoryTotal": "34190917632", + "cudaCores": 21760, + "architecture": "Blackwell", + "uuid": "GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b" + } + ], + "cudaVersion": "13.0", + "writerId": "l0jwe2bkeaq5oqjci79c7chqb959s74e" +} \ No newline at end of file diff --git a/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/wandb-summary.json b/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/wandb-summary.json new file mode 100644 index 0000000000000000000000000000000000000000..29e8cf7f331fe27dc4eda3df88a6bcbc42eb3a2c --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_25_flow_train/sd0_50_rollouts/wandb/run-20260611_174606-65q9e6j7/files/wandb-summary.json @@ -0,0 +1 @@ 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+num_checkpoints=1 + +ckpt_step_0100000: step=100000 success_rate=0.1200 success_count=6/50 mean_episode_length=1144.00 stage_drawer_opened=0.7200(36/50) stage_charger_picked=0.1200(6/50) stage_charger_placed=0.1200(6/50) stage_drawer_closed=0.1200(6/50) stage_drawer_opened_conditional=0.7200(36/50) stage_charger_picked_conditional=0.1667(6/36) stage_charger_placed_conditional=1.0000(6/6) stage_drawer_closed_conditional=1.0000(6/6) diff --git a/rollouts/sd0_small_new_opendrawer_30_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260701_070516-bbb93pun/files/config.yaml b/rollouts/sd0_small_new_opendrawer_30_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260701_070516-bbb93pun/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2fdc4b3ed3066e7027ff2a2ab5da04d3907b3832 --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_30_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260701_070516-bbb93pun/files/config.yaml @@ -0,0 +1,249 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + dkhprgk4qxbalpgqrixpfortgpkf94ah: + 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_small_new_opendrawer_30_split_sd0_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd0_small_new_opendrawer_30_split_sd0_eval_sd0_50_rollouts + - -o + - wandb_project=new_opendrawer_dagger + 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: "810370273280" + 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_small_new_opendrawer_30_split_sd0_flow_train/sd0_50_rollouts + startedAt: "2026-07-01T14:05:16.505518Z" + writerId: dkhprgk4qxbalpgqrixpfortgpkf94ah + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_30_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_small_new_opendrawer_30_split_sd0_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_dagger + run_name: sd0_small_new_opendrawer_30_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_small_new_opendrawer_30_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 +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 diff --git a/rollouts/sd0_small_new_opendrawer_30_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260701_070516-bbb93pun/files/output.log b/rollouts/sd0_small_new_opendrawer_30_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260701_070516-bbb93pun/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..b84574ed2c4620a6085ebbdd3d509726c7825dd9 --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_30_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260701_070516-bbb93pun/files/output.log @@ -0,0 +1,247 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-01_07-05-19.log +====================================================================================== + +07:05:19 [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 +07:05:19 [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 : 0.552893 seconds +[INFO]: Scene manager: + 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 : 4.215388 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_small_new_opendrawer_30_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] +[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 [7] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [7] +[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 2 charger picked up success reached for envs [0] +[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 [4] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6, 9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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=True steps=607 env=4 +[ckpt_step_0100000] rollout 12/50: success=True steps=674 env=2 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=3 +[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=4 +[ckpt_step_0100000] rollout 22/50: success=True steps=658 env=0 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=3 +[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=False steps=1200 env=4 +[ckpt_step_0100000] rollout 32/50: success=True steps=635 env=8 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=3 +[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=7 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 41/50: success=True steps=1018 env=8 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 45/50: success=True steps=808 env=6 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 49/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=9 diff --git a/rollouts/sd0_small_new_opendrawer_30_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260701_070516-bbb93pun/files/requirements.txt b/rollouts/sd0_small_new_opendrawer_30_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260701_070516-bbb93pun/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd0_small_new_opendrawer_30_split_sd0_flow_train/sd0_50_rollouts/wandb/run-20260701_070516-bbb93pun/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 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"/home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0058_partial/left.mp4", + "/home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0058_partial/wrist.mp4" + ] + } + ] + } + ] +} \ No newline at end of file diff --git a/rollouts/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/results.txt b/rollouts/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..dcc190c657905b4170215f2a522a1775736c2121 --- /dev/null +++ b/rollouts/sd0_vig_dagger_new_opendrawer_combined_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=0.0800 success_count=4/50 mean_episode_length=1166.44 stage_drawer_opened=0.3000(15/50) stage_charger_picked=0.1000(5/50) stage_charger_placed=0.0800(4/50) stage_drawer_closed=0.0800(4/50) stage_drawer_opened_conditional=0.3000(15/50) stage_charger_picked_conditional=0.3333(5/15) stage_charger_placed_conditional=0.8000(4/5) stage_drawer_closed_conditional=1.0000(4/4) +ckpt_step_0020000: step=20000 success_rate=0.4400 success_count=22/50 mean_episode_length=985.68 stage_drawer_opened=0.9000(45/50) stage_charger_picked=0.5000(25/50) stage_charger_placed=0.4800(24/50) stage_drawer_closed=0.4400(22/50) stage_drawer_opened_conditional=0.9000(45/50) stage_charger_picked_conditional=0.5556(25/45) stage_charger_placed_conditional=0.9600(24/25) stage_drawer_closed_conditional=0.9167(22/24) +ckpt_step_0030000: step=30000 success_rate=0.5600 success_count=28/50 mean_episode_length=937.38 stage_drawer_opened=1.0000(50/50) stage_charger_picked=0.5800(29/50) stage_charger_placed=0.5600(28/50) stage_drawer_closed=0.5600(28/50) stage_drawer_opened_conditional=1.0000(50/50) stage_charger_picked_conditional=0.5800(29/50) stage_charger_placed_conditional=0.9655(28/29) stage_drawer_closed_conditional=1.0000(28/28) +ckpt_step_0040000: step=40000 success_rate=0.4800 success_count=24/50 mean_episode_length=975.52 stage_drawer_opened=1.0000(50/50) stage_charger_picked=0.5400(27/50) stage_charger_placed=0.5200(26/50) stage_drawer_closed=0.4800(24/50) stage_drawer_opened_conditional=1.0000(50/50) stage_charger_picked_conditional=0.5400(27/50) stage_charger_placed_conditional=0.9630(26/27) stage_drawer_closed_conditional=0.9231(24/26) +ckpt_step_0050000: step=50000 success_rate=0.6000 success_count=30/50 mean_episode_length=907.62 stage_drawer_opened=0.9000(45/50) stage_charger_picked=0.6200(31/50) stage_charger_placed=0.6200(31/50) stage_drawer_closed=0.6000(30/50) stage_drawer_opened_conditional=0.9000(45/50) stage_charger_picked_conditional=0.6889(31/45) stage_charger_placed_conditional=1.0000(31/31) stage_drawer_closed_conditional=0.9677(30/31) +ckpt_step_0060000: step=60000 success_rate=0.6800 success_count=34/50 mean_episode_length=883.46 stage_drawer_opened=1.0000(50/50) stage_charger_picked=0.7200(36/50) stage_charger_placed=0.7000(35/50) stage_drawer_closed=0.6800(34/50) stage_drawer_opened_conditional=1.0000(50/50) stage_charger_picked_conditional=0.7200(36/50) stage_charger_placed_conditional=0.9722(35/36) stage_drawer_closed_conditional=0.9714(34/35) +ckpt_step_0070000: step=70000 success_rate=0.4800 success_count=24/50 mean_episode_length=954.14 stage_drawer_opened=0.9200(46/50) stage_charger_picked=0.5400(27/50) stage_charger_placed=0.5200(26/50) stage_drawer_closed=0.4800(24/50) stage_drawer_opened_conditional=0.9200(46/50) stage_charger_picked_conditional=0.5870(27/46) stage_charger_placed_conditional=0.9630(26/27) stage_drawer_closed_conditional=0.9231(24/26) +ckpt_step_0080000: step=80000 success_rate=0.6400 success_count=32/50 mean_episode_length=893.84 stage_drawer_opened=0.9400(47/50) stage_charger_picked=0.7000(35/50) stage_charger_placed=0.6600(33/50) stage_drawer_closed=0.6400(32/50) stage_drawer_opened_conditional=0.9400(47/50) stage_charger_picked_conditional=0.7447(35/47) stage_charger_placed_conditional=0.9429(33/35) stage_drawer_closed_conditional=0.9697(32/33) +ckpt_step_0090000: step=90000 success_rate=0.4000 success_count=20/50 mean_episode_length=1021.78 stage_drawer_opened=0.9200(46/50) stage_charger_picked=0.4200(21/50) stage_charger_placed=0.4200(21/50) stage_drawer_closed=0.4000(20/50) stage_drawer_opened_conditional=0.9200(46/50) stage_charger_picked_conditional=0.4565(21/46) stage_charger_placed_conditional=1.0000(21/21) stage_drawer_closed_conditional=0.9524(20/21) +ckpt_final: step=100000 success_rate=0.6800 success_count=34/50 mean_episode_length=864.82 stage_drawer_opened=0.9800(49/50) stage_charger_picked=0.7000(35/50) stage_charger_placed=0.6800(34/50) stage_drawer_closed=0.6800(34/50) stage_drawer_opened_conditional=0.9800(49/50) stage_charger_picked_conditional=0.7143(35/49) stage_charger_placed_conditional=0.9714(34/35) stage_drawer_closed_conditional=1.0000(34/34) +ckpt_step_0100000: step=100000 success_rate=0.5200 success_count=26/50 mean_episode_length=951.48 stage_drawer_opened=0.9800(49/50) stage_charger_picked=0.5800(29/50) stage_charger_placed=0.5400(27/50) stage_drawer_closed=0.5200(26/50) stage_drawer_opened_conditional=0.9800(49/50) stage_charger_picked_conditional=0.5918(29/49) stage_charger_placed_conditional=0.9310(27/29) stage_drawer_closed_conditional=0.9630(26/27) diff --git a/rollouts/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/wandb/run-20260619_161453-pbnnmcjd/files/config.yaml b/rollouts/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/wandb/run-20260619_161453-pbnnmcjd/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6400eb3aa3272225591886505d24225063d87b63 --- /dev/null +++ b/rollouts/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/wandb/run-20260619_161453-pbnnmcjd/files/config.yaml @@ -0,0 +1,247 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + nad48fauojwnrnjru4uune0p2o24d4yw: + 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_vig_dagger_new_opendrawer_combined_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd0_vig_dagger_new_opendrawer_combined_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: "456430866432" + email: chengenwu@berkeley.edu + executable: /home/david/Document/env_isaaclab/bin/python + git: + commit: ae6dac4a3682d87efbef2074f4d153dd4424ebbc + 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_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts + startedAt: "2026-06-19T23:14:53.112560Z" + writerId: nad48fauojwnrnjru4uune0p2o24d4yw + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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/vig_dagger_new_opendrawer_combined + 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_vig_dagger_new_opendrawer_combined_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: vig_experiment_new_opendrawer_flow + run_name: sd0_vig_dagger_new_opendrawer_combined +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_vig_dagger_new_opendrawer_combined_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 diff --git a/rollouts/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/wandb/run-20260619_161453-pbnnmcjd/files/output.log b/rollouts/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/wandb/run-20260619_161453-pbnnmcjd/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..f53b0ade02f8c55e0ac3166ffc13ffd4b08b3fcb --- /dev/null +++ b/rollouts/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/wandb/run-20260619_161453-pbnnmcjd/files/output.log @@ -0,0 +1,2137 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-19_16-14-53.log +====================================================================================== + +16:14:53 [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 +16:14:54 [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 : 0.524431 seconds +[INFO]: Scene manager: + 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 : 4.217984 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/checkpoints/ckpt_step_0010000.pt (step=10000) +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[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 [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[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 [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[ckpt_step_0010000] rollout 1/50: success=True steps=777 env=2 +[ckpt_step_0010000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 11/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 12/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 14/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 15/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 21/50: success=True steps=847 env=2 +[ckpt_step_0010000] rollout 22/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 23/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 24/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 25/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 26/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 27/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 31/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 32/50: success=True steps=777 env=3 +[ckpt_step_0010000] rollout 33/50: success=True steps=721 env=2 +[ckpt_step_0010000] rollout 34/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 35/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 36/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 38/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 39/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 41/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 42/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 43/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 44/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 45/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 47/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 48/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 49/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 50/50: success=False steps=1200 env=8 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/checkpoints/ckpt_step_0020000.pt (step=20000) +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up 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 [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[ckpt_step_0020000] rollout 1/50: success=True steps=645 env=8 +[ckpt_step_0020000] rollout 2/50: success=True steps=707 env=2 +[ckpt_step_0020000] rollout 3/50: success=True steps=710 env=1 +[ckpt_step_0020000] rollout 4/50: success=True steps=775 env=6 +[ckpt_step_0020000] rollout 5/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 6/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 7/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 8/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 11/50: success=True steps=747 env=1 +[ckpt_step_0020000] rollout 12/50: success=True steps=623 env=7 +[ckpt_step_0020000] rollout 13/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 15/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 16/50: success=True steps=634 env=1 +[ckpt_step_0020000] rollout 17/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 18/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 19/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 20/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 21/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 22/50: success=True steps=803 env=6 +[ckpt_step_0020000] rollout 23/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 24/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 25/50: success=True steps=674 env=9 +[ckpt_step_0020000] rollout 26/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 27/50: success=True steps=838 env=4 +[ckpt_step_0020000] rollout 28/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 29/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 30/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 31/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 32/50: success=True steps=654 env=8 +[ckpt_step_0020000] rollout 33/50: success=True steps=742 env=7 +[ckpt_step_0020000] rollout 34/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 35/50: success=True steps=926 env=2 +[ckpt_step_0020000] rollout 36/50: success=True steps=841 env=1 +[ckpt_step_0020000] rollout 37/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 38/50: success=True steps=519 env=7 +[ckpt_step_0020000] rollout 39/50: success=True steps=659 env=8 +[ckpt_step_0020000] rollout 40/50: success=True steps=776 env=0 +[ckpt_step_0020000] rollout 41/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 42/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 43/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 44/50: success=True steps=699 env=1 +[ckpt_step_0020000] rollout 45/50: success=True steps=716 env=9 +[ckpt_step_0020000] rollout 46/50: success=True steps=723 env=4 +[ckpt_step_0020000] rollout 47/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 48/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 49/50: success=True steps=607 env=1 +[ckpt_step_0020000] rollout 50/50: success=True steps=666 env=3 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/checkpoints/ckpt_step_0030000.pt (step=30000) +[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 [4, 9] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1, 9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened 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 [4] +[OpenDrawer] stage 3 charger placed in drawer 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 [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[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 [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[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 [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[ckpt_step_0030000] rollout 1/50: success=True steps=651 env=5 +[ckpt_step_0030000] rollout 2/50: success=True steps=665 env=1 +[ckpt_step_0030000] rollout 3/50: success=True steps=681 env=9 +[ckpt_step_0030000] rollout 4/50: success=True steps=735 env=8 +[ckpt_step_0030000] rollout 5/50: success=True steps=816 env=3 +[ckpt_step_0030000] rollout 6/50: success=True steps=819 env=7 +[ckpt_step_0030000] rollout 7/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 8/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 9/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 10/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 11/50: success=True steps=621 env=9 +[ckpt_step_0030000] rollout 12/50: success=True steps=689 env=1 +[ckpt_step_0030000] rollout 13/50: success=True steps=627 env=8 +[ckpt_step_0030000] rollout 14/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 15/50: success=True steps=738 env=0 +[ckpt_step_0030000] rollout 16/50: success=True steps=765 env=4 +[ckpt_step_0030000] rollout 17/50: success=True steps=653 env=8 +[ckpt_step_0030000] rollout 18/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 20/50: success=True steps=790 env=9 +[ckpt_step_0030000] rollout 21/50: success=True steps=741 env=1 +[ckpt_step_0030000] rollout 22/50: success=True steps=1026 env=2 +[ckpt_step_0030000] rollout 23/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 24/50: success=True steps=689 env=8 +[ckpt_step_0030000] rollout 25/50: success=True steps=699 env=3 +[ckpt_step_0030000] rollout 26/50: success=True steps=732 env=9 +[ckpt_step_0030000] rollout 27/50: success=True steps=598 env=6 +[ckpt_step_0030000] rollout 28/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 29/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 30/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 31/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 32/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 33/50: success=True steps=707 env=3 +[ckpt_step_0030000] rollout 34/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 35/50: success=True steps=660 env=9 +[ckpt_step_0030000] rollout 36/50: success=True steps=717 env=0 +[ckpt_step_0030000] rollout 37/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 38/50: success=True steps=639 env=3 +[ckpt_step_0030000] rollout 39/50: success=True steps=738 env=2 +[ckpt_step_0030000] rollout 40/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 41/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 42/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 43/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 44/50: success=True steps=1199 env=1 +[ckpt_step_0030000] rollout 45/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 46/50: success=True steps=657 env=3 +[ckpt_step_0030000] rollout 47/50: success=True steps=754 env=2 +[ckpt_step_0030000] rollout 48/50: success=True steps=663 env=4 +[ckpt_step_0030000] rollout 49/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 50/50: success=False steps=1200 env=8 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/checkpoints/ckpt_step_0040000.pt (step=40000) +[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 [2] +[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] +[OpenDrawer] stage 1 drawer opened success reached for envs [0, 5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3, 6] +[OpenDrawer] stage 3 charger placed in drawer 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 [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 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[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 [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0, 8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[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 [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up 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 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[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 [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer 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 [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[ckpt_step_0040000] rollout 1/50: success=True steps=693 env=8 +[ckpt_step_0040000] rollout 2/50: success=True steps=703 env=3 +[ckpt_step_0040000] rollout 3/50: success=True steps=707 env=0 +[ckpt_step_0040000] rollout 4/50: success=True steps=744 env=5 +[ckpt_step_0040000] rollout 5/50: success=True steps=763 env=7 +[ckpt_step_0040000] rollout 6/50: success=True steps=772 env=9 +[ckpt_step_0040000] rollout 7/50: success=True steps=832 env=1 +[ckpt_step_0040000] rollout 8/50: success=True steps=912 env=6 +[ckpt_step_0040000] rollout 9/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 10/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 11/50: success=True steps=688 env=9 +[ckpt_step_0040000] rollout 12/50: success=True steps=782 env=7 +[ckpt_step_0040000] rollout 13/50: success=True steps=683 env=6 +[ckpt_step_0040000] rollout 14/50: success=True steps=766 env=1 +[ckpt_step_0040000] rollout 15/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 16/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 17/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 18/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 19/50: success=True steps=859 env=4 +[ckpt_step_0040000] rollout 20/50: success=True steps=719 env=9 +[ckpt_step_0040000] rollout 21/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 22/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 23/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 25/50: success=True steps=720 env=9 +[ckpt_step_0040000] rollout 26/50: success=True steps=569 env=2 +[ckpt_step_0040000] rollout 27/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 28/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 29/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 30/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 31/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 32/50: success=True steps=752 env=2 +[ckpt_step_0040000] rollout 33/50: success=True steps=619 env=0 +[ckpt_step_0040000] rollout 34/50: success=True steps=738 env=3 +[ckpt_step_0040000] rollout 35/50: success=True steps=761 env=8 +[ckpt_step_0040000] rollout 36/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 37/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 38/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 39/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 40/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 41/50: success=True steps=641 env=0 +[ckpt_step_0040000] rollout 42/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 43/50: success=True steps=782 env=6 +[ckpt_step_0040000] rollout 44/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 45/50: success=True steps=634 env=0 +[ckpt_step_0040000] rollout 46/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 47/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 48/50: success=True steps=737 env=5 +[ckpt_step_0040000] rollout 49/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 50/50: success=False steps=1200 env=1 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/checkpoints/ckpt_step_0050000.pt (step=50000) +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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, 8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [4, 8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[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 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 4 drawer closed with charger inside 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 [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[ckpt_step_0050000] rollout 1/50: success=True steps=568 env=5 +[ckpt_step_0050000] rollout 2/50: success=True steps=738 env=6 +[ckpt_step_0050000] rollout 3/50: success=True steps=756 env=9 +[ckpt_step_0050000] rollout 4/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 5/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 6/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 7/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 8/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 11/50: success=True steps=674 env=5 +[ckpt_step_0050000] rollout 12/50: success=True steps=680 env=6 +[ckpt_step_0050000] rollout 13/50: success=True steps=670 env=9 +[ckpt_step_0050000] rollout 14/50: success=True steps=632 env=8 +[ckpt_step_0050000] rollout 15/50: success=True steps=640 env=4 +[ckpt_step_0050000] rollout 16/50: success=True steps=699 env=0 +[ckpt_step_0050000] rollout 17/50: success=True steps=764 env=5 +[ckpt_step_0050000] rollout 18/50: success=True steps=670 env=9 +[ckpt_step_0050000] rollout 19/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 20/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 21/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 22/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 23/50: success=True steps=675 env=4 +[ckpt_step_0050000] rollout 24/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 25/50: success=True steps=683 env=9 +[ckpt_step_0050000] rollout 26/50: success=True steps=778 env=5 +[ckpt_step_0050000] rollout 27/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 28/50: success=True steps=675 env=3 +[ckpt_step_0050000] rollout 29/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 30/50: success=True steps=699 env=1 +[ckpt_step_0050000] rollout 31/50: success=True steps=706 env=7 +[ckpt_step_0050000] rollout 32/50: success=True steps=705 env=4 +[ckpt_step_0050000] rollout 33/50: success=True steps=721 env=6 +[ckpt_step_0050000] rollout 34/50: success=True steps=678 env=5 +[ckpt_step_0050000] rollout 35/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 36/50: success=True steps=706 env=1 +[ckpt_step_0050000] rollout 37/50: success=True steps=620 env=6 +[ckpt_step_0050000] rollout 38/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 39/50: success=True steps=837 env=4 +[ckpt_step_0050000] rollout 40/50: success=True steps=718 env=5 +[ckpt_step_0050000] rollout 41/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 42/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 43/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 44/50: success=True steps=1196 env=7 +[ckpt_step_0050000] rollout 45/50: success=True steps=665 env=1 +[ckpt_step_0050000] rollout 46/50: success=True steps=623 env=9 +[ckpt_step_0050000] rollout 47/50: success=True steps=732 env=6 +[ckpt_step_0050000] rollout 48/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 49/50: success=True steps=750 env=4 +[ckpt_step_0050000] rollout 50/50: success=True steps=723 env=5 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/checkpoints/ckpt_step_0060000.pt (step=60000) +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up 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 [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[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 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[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 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[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 [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3, 4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up 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 [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[ckpt_step_0060000] rollout 1/50: success=True steps=613 env=7 +[ckpt_step_0060000] rollout 2/50: success=True steps=644 env=8 +[ckpt_step_0060000] rollout 3/50: success=True steps=657 env=0 +[ckpt_step_0060000] rollout 4/50: success=True steps=795 env=3 +[ckpt_step_0060000] rollout 5/50: success=True steps=877 env=6 +[ckpt_step_0060000] rollout 6/50: success=True steps=952 env=1 +[ckpt_step_0060000] rollout 7/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 8/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 9/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 11/50: success=True steps=760 env=7 +[ckpt_step_0060000] rollout 12/50: success=True steps=761 env=0 +[ckpt_step_0060000] rollout 13/50: success=True steps=628 env=6 +[ckpt_step_0060000] rollout 14/50: success=True steps=609 env=1 +[ckpt_step_0060000] rollout 15/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 16/50: success=True steps=658 env=5 +[ckpt_step_0060000] rollout 17/50: success=True steps=758 env=9 +[ckpt_step_0060000] rollout 18/50: success=True steps=781 env=2 +[ckpt_step_0060000] rollout 19/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 20/50: success=True steps=806 env=4 +[ckpt_step_0060000] rollout 21/50: success=True steps=693 env=7 +[ckpt_step_0060000] rollout 22/50: success=True steps=745 env=6 +[ckpt_step_0060000] rollout 23/50: success=True steps=979 env=0 +[ckpt_step_0060000] rollout 24/50: success=True steps=662 env=8 +[ckpt_step_0060000] rollout 25/50: success=True steps=695 env=2 +[ckpt_step_0060000] rollout 26/50: success=True steps=682 env=7 +[ckpt_step_0060000] rollout 27/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 28/50: success=True steps=667 env=6 +[ckpt_step_0060000] rollout 29/50: success=True steps=595 env=0 +[ckpt_step_0060000] rollout 30/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 31/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 32/50: success=True steps=670 env=8 +[ckpt_step_0060000] rollout 33/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 34/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 35/50: success=True steps=765 env=1 +[ckpt_step_0060000] rollout 36/50: success=True steps=596 env=5 +[ckpt_step_0060000] rollout 37/50: success=True steps=742 env=6 +[ckpt_step_0060000] rollout 38/50: success=True steps=702 env=0 +[ckpt_step_0060000] rollout 39/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 40/50: success=True steps=714 env=3 +[ckpt_step_0060000] rollout 41/50: success=True steps=713 env=4 +[ckpt_step_0060000] rollout 42/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 43/50: success=True steps=1091 env=9 +[ckpt_step_0060000] rollout 44/50: success=True steps=653 env=6 +[ckpt_step_0060000] rollout 45/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 46/50: success=True steps=680 env=4 +[ckpt_step_0060000] rollout 47/50: success=True steps=661 env=7 +[ckpt_step_0060000] rollout 48/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 49/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 50/50: success=True steps=969 env=3 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/checkpoints/ckpt_step_0070000.pt (step=70000) +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2, 3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer 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 [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[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 [2] +[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 [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[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 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened 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 [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [6] +[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 [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[ckpt_step_0070000] rollout 1/50: success=True steps=633 env=7 +[ckpt_step_0070000] rollout 2/50: success=True steps=640 env=9 +[ckpt_step_0070000] rollout 3/50: success=True steps=662 env=2 +[ckpt_step_0070000] rollout 4/50: success=True steps=682 env=6 +[ckpt_step_0070000] rollout 5/50: success=True steps=683 env=3 +[ckpt_step_0070000] rollout 6/50: success=True steps=687 env=5 +[ckpt_step_0070000] rollout 7/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 8/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 9/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 11/50: success=True steps=612 env=5 +[ckpt_step_0070000] rollout 12/50: success=True steps=658 env=3 +[ckpt_step_0070000] rollout 13/50: success=True steps=899 env=7 +[ckpt_step_0070000] rollout 14/50: success=True steps=567 env=4 +[ckpt_step_0070000] rollout 15/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 16/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 18/50: success=True steps=701 env=8 +[ckpt_step_0070000] rollout 19/50: success=True steps=670 env=5 +[ckpt_step_0070000] rollout 20/50: success=True steps=676 env=3 +[ckpt_step_0070000] rollout 21/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 22/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 23/50: success=True steps=710 env=9 +[ckpt_step_0070000] rollout 24/50: success=True steps=810 env=2 +[ckpt_step_0070000] rollout 25/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 26/50: success=True steps=806 env=5 +[ckpt_step_0070000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 30/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 31/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 32/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 33/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 34/50: success=True steps=664 env=8 +[ckpt_step_0070000] rollout 35/50: success=True steps=787 env=6 +[ckpt_step_0070000] rollout 36/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 37/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 38/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 39/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 40/50: success=True steps=592 env=1 +[ckpt_step_0070000] rollout 41/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 42/50: success=True steps=617 env=2 +[ckpt_step_0070000] rollout 43/50: success=True steps=684 env=6 +[ckpt_step_0070000] rollout 44/50: success=True steps=677 env=7 +[ckpt_step_0070000] rollout 45/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 46/50: success=True steps=670 env=1 +[ckpt_step_0070000] rollout 47/50: success=True steps=720 env=4 +[ckpt_step_0070000] rollout 48/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 50/50: success=False steps=1200 env=5 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/checkpoints/ckpt_step_0080000.pt (step=80000) +[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 [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 [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1, 8] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[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 [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[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 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened 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 [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer 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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened 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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1, 6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[ckpt_step_0080000] rollout 1/50: success=True steps=583 env=2 +[ckpt_step_0080000] rollout 2/50: success=True steps=657 env=8 +[ckpt_step_0080000] rollout 3/50: success=True steps=668 env=3 +[ckpt_step_0080000] rollout 4/50: success=True steps=690 env=1 +[ckpt_step_0080000] rollout 5/50: success=True steps=694 env=6 +[ckpt_step_0080000] rollout 6/50: success=True steps=701 env=5 +[ckpt_step_0080000] rollout 7/50: success=True steps=839 env=9 +[ckpt_step_0080000] rollout 8/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 9/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 10/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 11/50: success=True steps=675 env=2 +[ckpt_step_0080000] rollout 12/50: success=True steps=689 env=8 +[ckpt_step_0080000] rollout 13/50: success=True steps=762 env=3 +[ckpt_step_0080000] rollout 14/50: success=True steps=712 env=9 +[ckpt_step_0080000] rollout 15/50: success=True steps=584 env=7 +[ckpt_step_0080000] rollout 16/50: success=True steps=685 env=0 +[ckpt_step_0080000] rollout 17/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 19/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 20/50: success=True steps=720 env=8 +[ckpt_step_0080000] rollout 21/50: success=True steps=651 env=9 +[ckpt_step_0080000] rollout 22/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 23/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 24/50: success=True steps=712 env=7 +[ckpt_step_0080000] rollout 25/50: success=True steps=658 env=1 +[ckpt_step_0080000] rollout 26/50: success=True steps=692 env=6 +[ckpt_step_0080000] rollout 27/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 28/50: success=True steps=739 env=5 +[ckpt_step_0080000] rollout 29/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 30/50: success=True steps=659 env=1 +[ckpt_step_0080000] rollout 31/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 32/50: success=True steps=720 env=5 +[ckpt_step_0080000] rollout 33/50: success=True steps=775 env=6 +[ckpt_step_0080000] rollout 34/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 35/50: success=True steps=1016 env=7 +[ckpt_step_0080000] rollout 36/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 37/50: success=True steps=1188 env=2 +[ckpt_step_0080000] rollout 38/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 39/50: success=True steps=688 env=1 +[ckpt_step_0080000] rollout 40/50: success=True steps=609 env=6 +[ckpt_step_0080000] rollout 41/50: success=True steps=697 env=9 +[ckpt_step_0080000] rollout 42/50: success=True steps=692 env=7 +[ckpt_step_0080000] rollout 43/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 44/50: success=True steps=818 env=2 +[ckpt_step_0080000] rollout 45/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 46/50: success=True steps=706 env=3 +[ckpt_step_0080000] rollout 47/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 48/50: success=True steps=744 env=1 +[ckpt_step_0080000] rollout 49/50: success=True steps=669 env=6 +[ckpt_step_0080000] rollout 50/50: success=False steps=1200 env=4 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/checkpoints/ckpt_step_0090000.pt (step=90000) +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up 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 [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up 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 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[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 [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[ckpt_step_0090000] rollout 1/50: success=True steps=652 env=2 +[ckpt_step_0090000] rollout 2/50: success=True steps=728 env=1 +[ckpt_step_0090000] rollout 3/50: success=True steps=740 env=7 +[ckpt_step_0090000] rollout 4/50: success=True steps=809 env=0 +[ckpt_step_0090000] rollout 5/50: success=True steps=896 env=6 +[ckpt_step_0090000] rollout 6/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 7/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 8/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 11/50: success=True steps=650 env=2 +[ckpt_step_0090000] rollout 12/50: success=True steps=737 env=7 +[ckpt_step_0090000] rollout 13/50: success=True steps=705 env=0 +[ckpt_step_0090000] rollout 14/50: success=True steps=675 env=3 +[ckpt_step_0090000] rollout 15/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 16/50: success=True steps=1121 env=6 +[ckpt_step_0090000] rollout 17/50: success=True steps=869 env=5 +[ckpt_step_0090000] rollout 18/50: success=True steps=719 env=7 +[ckpt_step_0090000] rollout 19/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 21/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 22/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 23/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 24/50: success=True steps=646 env=5 +[ckpt_step_0090000] rollout 25/50: success=True steps=802 env=7 +[ckpt_step_0090000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 27/50: success=True steps=680 env=9 +[ckpt_step_0090000] rollout 28/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 29/50: success=True steps=803 env=4 +[ckpt_step_0090000] rollout 30/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 31/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 32/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 33/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 34/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 35/50: success=True steps=746 env=4 +[ckpt_step_0090000] rollout 36/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 37/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 38/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 39/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 40/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 41/50: success=True steps=745 env=4 +[ckpt_step_0090000] rollout 42/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 43/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 44/50: success=True steps=627 env=6 +[ckpt_step_0090000] rollout 45/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 46/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 47/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 48/50: success=True steps=739 env=4 +[ckpt_step_0090000] rollout 49/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/checkpoints/ckpt_final.pt (step=100000) +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[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 [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[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 [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[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 [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[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 [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened 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 [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened 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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[ckpt_final] rollout 1/50: success=True steps=682 env=1 +[ckpt_final] rollout 2/50: success=True steps=684 env=7 +[ckpt_final] rollout 3/50: success=True steps=792 env=6 +[ckpt_final] rollout 4/50: success=True steps=808 env=8 +[ckpt_final] rollout 5/50: success=True steps=811 env=9 +[ckpt_final] rollout 6/50: success=True steps=856 env=2 +[ckpt_final] rollout 7/50: success=False steps=1200 env=0 +[ckpt_final] rollout 8/50: success=False steps=1200 env=3 +[ckpt_final] rollout 9/50: success=False steps=1200 env=4 +[ckpt_final] rollout 10/50: success=False steps=1200 env=5 +[ckpt_final] rollout 11/50: success=True steps=718 env=7 +[ckpt_final] rollout 12/50: success=True steps=616 env=9 +[ckpt_final] rollout 13/50: success=True steps=784 env=1 +[ckpt_final] rollout 14/50: success=True steps=647 env=5 +[ckpt_final] rollout 15/50: success=True steps=726 env=0 +[ckpt_final] rollout 16/50: success=True steps=740 env=3 +[ckpt_final] rollout 17/50: success=False steps=1200 env=6 +[ckpt_final] rollout 18/50: success=False steps=1200 env=8 +[ckpt_final] rollout 19/50: success=False steps=1200 env=2 +[ckpt_final] rollout 20/50: success=True steps=622 env=1 +[ckpt_final] rollout 21/50: success=False steps=1200 env=4 +[ckpt_final] rollout 22/50: success=True steps=621 env=3 +[ckpt_final] rollout 23/50: success=True steps=638 env=0 +[ckpt_final] rollout 24/50: success=False steps=1200 env=7 +[ckpt_final] rollout 25/50: success=True steps=628 env=6 +[ckpt_final] rollout 26/50: success=False steps=1200 env=9 +[ckpt_final] rollout 27/50: success=True steps=811 env=5 +[ckpt_final] rollout 28/50: success=True steps=629 env=1 +[ckpt_final] rollout 29/50: success=True steps=850 env=8 +[ckpt_final] rollout 30/50: success=False steps=1200 env=2 +[ckpt_final] rollout 31/50: success=True steps=656 env=7 +[ckpt_final] rollout 32/50: success=True steps=717 env=6 +[ckpt_final] rollout 33/50: success=True steps=718 env=5 +[ckpt_final] rollout 34/50: success=True steps=676 env=8 +[ckpt_final] rollout 35/50: success=False steps=1200 env=4 +[ckpt_final] rollout 36/50: success=False steps=1200 env=3 +[ckpt_final] rollout 37/50: success=False steps=1200 env=0 +[ckpt_final] rollout 38/50: success=False steps=1200 env=9 +[ckpt_final] rollout 39/50: success=False steps=1200 env=1 +[ckpt_final] rollout 40/50: success=True steps=680 env=7 +[ckpt_final] rollout 41/50: success=True steps=635 env=6 +[ckpt_final] rollout 42/50: success=True steps=764 env=2 +[ckpt_final] rollout 43/50: success=True steps=737 env=5 +[ckpt_final] rollout 44/50: success=True steps=672 env=8 +[ckpt_final] rollout 45/50: success=True steps=756 env=4 +[ckpt_final] rollout 46/50: success=True steps=687 env=3 +[ckpt_final] rollout 47/50: success=True steps=696 env=9 +[ckpt_final] rollout 48/50: success=True steps=604 env=2 +[ckpt_final] rollout 49/50: success=True steps=607 env=8 +[ckpt_final] rollout 50/50: success=True steps=773 env=5 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_vig_dagger_new_opendrawer_combined_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6, 8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[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 [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[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 [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[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 [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up 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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer 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 [4] +[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 4 drawer closed with charger inside success reached for envs [7] +[ckpt_step_0100000] rollout 1/50: success=True steps=714 env=9 +[ckpt_step_0100000] rollout 2/50: success=True steps=732 env=8 +[ckpt_step_0100000] rollout 3/50: success=True steps=753 env=6 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 9/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 10/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 11/50: success=True steps=748 env=8 +[ckpt_step_0100000] rollout 12/50: success=True steps=772 env=9 +[ckpt_step_0100000] rollout 13/50: success=True steps=640 env=4 +[ckpt_step_0100000] rollout 14/50: success=True steps=707 env=0 +[ckpt_step_0100000] rollout 15/50: success=True steps=708 env=3 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 17/50: success=True steps=769 env=5 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 21/50: success=True steps=695 env=4 +[ckpt_step_0100000] rollout 22/50: success=True steps=750 env=0 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 25/50: success=True steps=826 env=3 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 28/50: success=True steps=657 env=9 +[ckpt_step_0100000] rollout 29/50: success=True steps=734 env=8 +[ckpt_step_0100000] rollout 30/50: success=True steps=711 env=3 +[ckpt_step_0100000] rollout 31/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 36/50: success=True steps=719 env=5 +[ckpt_step_0100000] rollout 37/50: success=True steps=675 env=8 +[ckpt_step_0100000] rollout 38/50: success=True steps=740 env=3 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 40/50: success=True steps=770 env=1 +[ckpt_step_0100000] rollout 41/50: success=True steps=814 env=7 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 43/50: success=True steps=673 env=5 +[ckpt_step_0100000] rollout 44/50: success=True steps=732 env=0 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 46/50: success=True steps=740 env=8 +[ckpt_step_0100000] rollout 47/50: success=True steps=654 env=3 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 49/50: success=True steps=579 env=9 +[ckpt_step_0100000] rollout 50/50: success=True steps=762 env=7 diff --git a/rollouts/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/wandb/run-20260619_161453-pbnnmcjd/files/requirements.txt b/rollouts/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/wandb/run-20260619_161453-pbnnmcjd/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd0_vig_dagger_new_opendrawer_combined_flow_train/sd0_50_rollouts/wandb/run-20260619_161453-pbnnmcjd/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 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a/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/results.txt b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..2093058195bb6fde8e3874e3902f554a8d577c69 --- /dev/null +++ b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_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=0.1800 success_count=9/50 mean_episode_length=1122.62 stage_drawer_opened=0.7000(35/50) stage_charger_picked=0.2000(10/50) stage_charger_placed=0.2000(10/50) stage_drawer_closed=0.1800(9/50) stage_drawer_opened_conditional=0.7000(35/50) stage_charger_picked_conditional=0.2857(10/35) stage_charger_placed_conditional=1.0000(10/10) stage_drawer_closed_conditional=0.9000(9/10) diff --git a/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_021639-uhirunwg/files/config.yaml b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_021639-uhirunwg/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b4b06bb231b0c221168ee7aa3804cb99cb799c77 --- /dev/null +++ b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_021639-uhirunwg/files/config.yaml @@ -0,0 +1,261 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + 136e9fqtderwz4fda2hcy0a2q2vv3xf6: + 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/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_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: "920902975488" + email: chengenwu@berkeley.edu + executable: /home/david/Document/env_isaaclab/bin/python + git: + commit: cfc224a87241d6d5ad51e57357d686ca654de8df + 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/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts + startedAt: "2026-07-11T09:16:39.804711Z" + writerId: 136e9fqtderwz4fda2hcy0a2q2vv3xf6 + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_30_vig_dagger_th3_split_sd1 + 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: 1 + 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/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_dagger + run_name: sd1_new_opendrawer_30_vig_dagger_th3_split_sd1 +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/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_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: 1 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_021639-uhirunwg/files/output.log b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_021639-uhirunwg/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..94de3808a5d300193738b625c18f886edbbe464b --- /dev/null +++ b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_021639-uhirunwg/files/output.log @@ -0,0 +1,273 @@ +[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_2026-07-11_02-16-40.log +======================================================================================================== + +02:16:40 [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 +02:16:41 [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 : 0.532005 seconds +[INFO]: Scene manager: + 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 : 4.726138 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1, 2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up 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 [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[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 [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[ckpt_step_0100000] rollout 1/50: success=True steps=770 env=9 +[ckpt_step_0100000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 11/50: success=True steps=704 env=5 +[ckpt_step_0100000] rollout 12/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 13/50: success=True steps=821 env=4 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 21/50: success=True steps=659 env=4 +[ckpt_step_0100000] rollout 22/50: success=True steps=680 env=8 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 25/50: success=True steps=1045 env=1 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 31/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 35/50: success=True steps=1087 env=1 +[ckpt_step_0100000] rollout 36/50: success=True steps=989 env=3 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 41/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 42/50: success=True steps=807 env=1 +[ckpt_step_0100000] rollout 43/50: success=True steps=671 env=7 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 46/50: success=True steps=717 env=2 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 49/50: success=True steps=746 env=4 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=0 diff --git a/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_021639-uhirunwg/files/requirements.txt b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_021639-uhirunwg/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_021639-uhirunwg/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 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 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- -o + - num_rollouts=50 + - -o + - checkpoint_dir=/home/david/Document/robopolicy/runs/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_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: "926324027392" + email: chengenwu@berkeley.edu + executable: /home/david/Document/env_isaaclab/bin/python + git: + commit: cfc224a87241d6d5ad51e57357d686ca654de8df + 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/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts + startedAt: "2026-07-11T21:17:11.408713Z" + writerId: jkuchx6rk1hiwy0gqsxbs54na04j92t2 + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 41 + - 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_30_vig_dagger_th3_split_sd1 + 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: 1 + 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/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_dagger + run_name: sd1_new_opendrawer_30_vig_dagger_th3_split_sd1 +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/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_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: 1 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_141711-wlmdgm78/files/output.log b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_141711-wlmdgm78/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..0723708fc47b3bd32ef575737899fb98881f9a5b --- /dev/null +++ b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_141711-wlmdgm78/files/output.log @@ -0,0 +1,260 @@ +[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_2026-07-11_14-17-12.log +======================================================================================================== + +14:17:12 [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 +14:17:12 [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 : 0.544709 seconds +[INFO]: Scene manager: + 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 : 4.789422 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_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 [6] +[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 [3] +[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 [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[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 [0] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [2] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[ckpt_step_0100000] rollout 1/50: success=True steps=942 env=8 +[ckpt_step_0100000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 11/50: success=True steps=647 env=2 +[ckpt_step_0100000] rollout 12/50: success=True steps=879 env=9 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 21/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 22/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 31/50: success=True steps=715 env=8 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 33/50: success=True steps=700 env=6 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 35/50: success=True steps=989 env=4 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 41/50: success=True steps=701 env=6 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 44/50: success=True steps=677 env=1 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 46/50: success=True steps=681 env=6 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 49/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=5 diff --git a/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_141711-wlmdgm78/files/requirements.txt b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_141711-wlmdgm78/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260711_141711-wlmdgm78/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 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end of file diff --git a/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/results.txt b/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..0c95127516d46fed0885f74d806f6c1be779e097 --- /dev/null +++ b/rollouts/sd1_new_opendrawer_45_stage_2_25_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=0.1000 success_count=5/50 mean_episode_length=1147.26 stage_drawer_opened=0.9000(45/50) stage_charger_picked=0.2200(11/50) stage_charger_placed=0.1600(8/50) stage_drawer_closed=0.1000(5/50) stage_drawer_opened_conditional=0.9000(45/50) stage_charger_picked_conditional=0.2444(11/45) stage_charger_placed_conditional=0.7273(8/11) stage_drawer_closed_conditional=0.6250(5/8) diff --git a/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/config.yaml b/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f2b1c84f96d295a84800dd65e1bf89edee23b693 --- /dev/null +++ b/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/config.yaml @@ -0,0 +1,247 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + 0tpbo1fp8pjzc5js0r4ajzhf7lzr1y37: + 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/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd1_new_opendrawer_45_stage_2_25_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: "747133816832" + 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/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts + startedAt: "2026-06-29T03:37:46.199513Z" + writerId: 0tpbo1fp8pjzc5js0r4ajzhf7lzr1y37 + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_stage_2_25_vig_cut_thd_3_mg_5_split_sd1 + 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: 1 + 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/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_flow_lff + run_name: sd1_new_opendrawer_45_stage_2_25_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/sd1_new_opendrawer_45_stage_2_25_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: 1 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/output.log b/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..99448aa75da8d522c921beaea44c58ae5bda6bbc --- /dev/null +++ b/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/output.log @@ -0,0 +1,268 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-28_20-37-47.log +====================================================================================== + +20:37:47 [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 +20:37:47 [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 : 0.522002 seconds +[INFO]: Scene manager: + 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 : 4.199463 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd1_new_opendrawer_45_stage_2_25_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 [4] +[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 [8] +[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 [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4, 5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside 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 [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[ckpt_step_0100000] rollout 1/50: success=True steps=677 env=9 +[ckpt_step_0100000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 11/50: success=True steps=601 env=2 +[ckpt_step_0100000] rollout 12/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 13/50: success=True steps=737 env=1 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 21/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 22/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 31/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 32/50: success=True steps=652 env=7 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 41/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 44/50: success=True steps=696 env=3 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=0 +[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=8 diff --git a/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/requirements.txt b/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/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 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 +gunicorn==23.0.0 +transformers==4.57.6 +omegaconf==2.3.0 +contourpy==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +azure-storage-blob==12.17.0 +ray==2.52.1 +tqdm==4.67.3 +PyYAML==6.0.2 +qdldl==0.1.7.post5 +gitdb==4.0.12 +qpsolvers==4.12.0 +wheel==0.47.0 +fastapi==0.115.7 +nvidia-cudnn-cu12==9.7.1.26 +sympy==1.14.0 +kiwisolver==1.4.4 +isaacsim-ros2==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.8.61 +aioboto3==15.1.0 +wandb==0.27.0 +numpy==1.26.4 +protobuf==7.35.0 +torchaudio==2.7.0 +nvidia-cufile-cu12==1.13.0.11 +certifi==2026.5.20 +attrs==25.1.0 +urllib3==2.7.0 +iniconfig==2.3.0 +cryptography==44.0.0 +isaacsim-replicator==5.1.0.0 +pytransform3d==3.15.0 +MarkupSafe==3.0.3 +opencv-python-headless==4.11.0.86 +setproctitle==1.3.7 +isaacsim-utils==5.1.0.0 +ptyprocess==0.7.0 +flatdict==4.1.0 +isaacsim-asset==5.1.0.0 +cffi==2.0.0 +skrl==2.1.0 +loop-rate-limiters==1.2.0 +nvidia-cublas-cu12==12.8.3.14 +GitPython==3.1.50 +Jinja2==3.1.6 +cmeel-urdfdom==3.1.1.1 +proglog==0.1.12 +isaaclab_rl==0.5.1 +s3transfer==0.13.1 +pin==2.7.0 +h5py==3.16.0 +widgetsnbextension==4.0.15 +decorator==5.3.1 +mpmath==1.3.0 +triton==3.3.0 +oauthlib==3.2.2 +Farama-Notifications==0.0.6 +llvmlite==0.42.0 +prompt_toolkit==3.0.52 +onnx-ir==0.2.1 +matplotlib==3.10.3 +einops==0.8.2 +warp-lang==1.13.0 +requests-oauthlib==1.3.1 +pypng==0.20220715.0 +pure_eval==0.2.3 +antlr4-python3-runtime==4.9.3 +matplotlib-inline==0.2.2 +ipywidgets==8.1.5 +safetensors==0.7.0 +flaky==3.8.1 +six==1.17.0 +idna==3.10 +nvidia-nccl-cu12==2.26.2 +dex_retargeting==0.4.6 diff --git a/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/wandb-metadata.json b/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..67d1cf9aeae8b7b7b8b3655a023ce9b44995109b --- /dev/null +++ b/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/wandb-metadata.json @@ -0,0 +1,56 @@ +{ + "os": "Linux-7.0.0-22-generic-x86_64-with-glibc2.43", + "python": "CPython 3.11.15", + "startedAt": "2026-06-29T03:37:46.199513Z", + "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/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/checkpoints", + "-o", + "output_name=sd0_50_rollouts", + "-o", + "wandb_run_name=sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_eval_sd0_50_rollouts" + ], + "program": "/home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py", + "codePath": "scripts/eval/roboticsarmsim_eval.py", + "codePathLocal": "scripts/eval/roboticsarmsim_eval.py", + "git": { + "remote": "git@github.com:YixiaoWang7/robopolicy.git", + "commit": "d323bc5b083a667adf8a659e6a042c0f96948892" + }, + "email": "chengenwu@berkeley.edu", + "root": "/home/david/Document/robopolicy/runs/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts", + "host": "yixiao-G914", + "executable": "/home/david/Document/env_isaaclab/bin/python", + "cpu_count": 16, + "cpu_count_logical": 32, + "gpu": "NVIDIA GeForce RTX 5090", + "gpu_count": 1, + "disk": { + "/": { + "total": "1081101176832", + "used": "747133816832" + } + }, + "memory": { + "total": "65677729792" + }, + "gpu_nvidia": [ + { + "name": "NVIDIA GeForce RTX 5090", + "memoryTotal": "34190917632", + "cudaCores": 21760, + "architecture": "Blackwell", + "uuid": "GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b" + } + ], + "cudaVersion": "13.0", + "writerId": "0tpbo1fp8pjzc5js0r4ajzhf7lzr1y37" +} \ No newline at end of file diff --git a/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/wandb-summary.json b/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/wandb-summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1f953fa45ea7405eb339efe63ca5a75791f7e757 --- /dev/null +++ b/rollouts/sd1_new_opendrawer_45_stage_2_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_203746-kf35yqu6/files/wandb-summary.json @@ -0,0 +1 @@ +{"eval/stage_conditional_success_rate/charger_picked":0.24444444444444444,"eval/stage_conditional_success_denominator/drawer_closed":8,"eval/stage_conditional_success_rate/drawer_opened":0.9,"eval/mean_episode_length":1147.26,"eval/stage_conditional_success_denominator/charger_picked":45,"eval/success_count":5,"eval/stage_conditional_success_denominator/charger_placed":11,"eval/stage_success_rate/charger_picked":0.22,"_wandb":{"runtime":972},"eval/stage_conditional_success_rate/charger_placed":0.7272727272727273,"eval/stage_success_rate/drawer_opened":0.9,"_runtime":972.980512181,"eval/stage_conditional_success_rate/drawer_closed":0.625,"eval/success_rate":0.1,"eval/stage_success_count/drawer_opened":45,"_timestamp":1.7827052392766864e+09,"eval/stage_success_rate/drawer_closed":0.1,"eval/stage_success_count/drawer_closed":5,"eval/num_rollouts":50,"eval/stage_success_count/charger_picked":11,"eval/stage_success_count/charger_placed":8,"eval/stage_success_rate/charger_placed":0.16,"eval/stage_conditional_success_denominator/drawer_opened":50,"_step":100000} 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"/home/david/Document/robopolicy/runs/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/videos/ckpt_step_0100000/rollout_0058_partial/base_camera.mp4" + ] + } + ] + } + ] +} \ No newline at end of file diff --git a/rollouts/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/results.txt b/rollouts/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..37ea442a37949afed9669f99a555e565209a51f6 --- /dev/null +++ b/rollouts/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/results.txt @@ -0,0 +1,4 @@ +task=PlaceSphere-AllCams-v1 +num_checkpoints=1 + +ckpt_step_0100000: step=100000 success_rate=0.7400 success_count=37/50 mean_episode_length=207.18 diff --git a/rollouts/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/wandb/run-20260826_002622-gokz9ryl/files/config.yaml b/rollouts/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/wandb/run-20260826_002622-gokz9ryl/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e94ca88a314f8bc871fa1b7cf19383221ffe2bdf --- /dev/null +++ b/rollouts/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/wandb/run-20260826_002622-gokz9ryl/files/config.yaml @@ -0,0 +1,246 @@ +_wandb: + value: + cli_version: 0.28.1 + e: + neul7dnh25sylzyqpuprq5d63kh5f2r1: + args: + - --config + - scripts/eval/maniskill_place_sphere_eval_config.json + - -o + - checkpoint_dir=/home/david/Document/robopolicy/runs/sd1_place_sphere_20_dagger50_flow_train/checkpoints + - -o + - output_name=sd1_50_rollouts + - -o + - num_rollouts=50 + - -o + - num_envs=10 + - -o + - horizon=400 + - -o + - video=true + - -o + - wandb=true + - -o + - latest_only=true + codePath: scripts/eval/maniskill_eval.py + codePathLocal: scripts/eval/maniskill_eval.py + cpu_count: 16 + cpu_count_logical: 32 + cudaVersion: "13.0" + disk: + /: + total: "1081101176832" + used: "865863036928" + email: chengenwu@berkeley.edu + executable: /home/david/Document/maniskill/.venv/bin/python + git: + commit: 532f65fc6c0467ca90242706d9f63519b102b752 + 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: "65677328384" + os: Linux-7.0.0-29-generic-x86_64-with-glibc2.43 + program: /home/david/Document/robopolicy/scripts/eval/maniskill_eval.py + python: CPython 3.11.15 + root: /home/david/Document/robopolicy/runs/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts + startedAt: "2026-08-26T07:26:22.719599Z" + writerId: neul7dnh25sylzyqpuprq5d63kh5f2r1 + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 61 + "4": 3.11.15 + "5": 0.28.1 + "12": 0.28.1 + "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: + - hand_camera + - base_camera + data_dir: /home/david/Document/dataset/place_sphere_20_dagger50_combined + 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: 1 + 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: + - 8 + source_type: hdf5 + - camera_names: [] + future: 0 + history: 0 + key: state + paths: + - obs/robot0_joint_pos + - obs/robot0_gripper_qpos + shape: + - 9 + source_type: hdf5 + - camera_names: + - hand_camera + - base_camera + future: 0 + history: 0 + key: images + paths: [] + shape: + - 3 + - 256 + - 256 + source_type: video +logging: + value: + out_dir: runs/sd1_place_sphere_20_dagger50_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: place_sphere + run_name: sd1_place_sphere_20_dagger50_flow_train +maniskill_eval: + value: + actions_per_step: 8 + checkpoint_dir: /home/david/Document/robopolicy/runs/sd1_place_sphere_20_dagger50_flow_train/checkpoints + control_mode: pd_joint_pos + horizon: 400 + num_envs: 10 + num_rollouts: 50 + obs_mode: rgbd + output_name: sd1_50_rollouts + policy_image_downsample_factor: 1 + seed: 0 + task: PlaceSphere-AllCams-v1 + video: true + video_cameras: + - hand_camera + - base_camera +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: "" +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: 100000 + seed: 1 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/wandb/run-20260826_002622-gokz9ryl/files/output.log b/rollouts/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/wandb/run-20260826_002622-gokz9ryl/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..255fcdde173f6f141cc3edf1a8f65855d90b199c --- /dev/null +++ b/rollouts/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/wandb/run-20260826_002622-gokz9ryl/files/output.log @@ -0,0 +1,56 @@ +2026-08-26 00:26:23,327 - mani_skill - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended +2026-08-26 00:26:24,296 - mani_skill - WARNING - No initial pose set for actor builder of sphere, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-08-26 00:26:24,297 - mani_skill - WARNING - No initial pose set for actor builder of bin, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd1_place_sphere_20_dagger50_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +Loading weights: 100%|██████████| 223/223 [00:00<00:00, 23006.51it/s] +[extract_model_images] camera_names=['hand_camera', 'base_camera'] per_camera_shapes=[(10, 3, 256, 256), (10, 3, 256, 256)] return_shape=(10, 2, 3, 256, 256) +[ckpt_step_0100000] rollout 1/50: success=True steps=107 env=6 +[ckpt_step_0100000] rollout 2/50: success=True steps=116 env=8 +[ckpt_step_0100000] rollout 3/50: success=True steps=126 env=1 +[ckpt_step_0100000] rollout 4/50: success=True steps=132 env=5 +[ckpt_step_0100000] rollout 5/50: success=True steps=147 env=4 +[ckpt_step_0100000] rollout 6/50: success=True steps=155 env=9 +[ckpt_step_0100000] rollout 7/50: success=True steps=168 env=7 +[ckpt_step_0100000] rollout 8/50: success=True steps=190 env=2 +[ckpt_step_0100000] rollout 9/50: success=True steps=103 env=6 +[ckpt_step_0100000] rollout 10/50: success=True steps=109 env=8 +[ckpt_step_0100000] rollout 11/50: success=True steps=156 env=9 +[ckpt_step_0100000] rollout 12/50: success=True steps=176 env=4 +[ckpt_step_0100000] rollout 13/50: success=True steps=259 env=5 +[ckpt_step_0100000] rollout 14/50: success=False steps=400 env=0 +[ckpt_step_0100000] rollout 15/50: success=False steps=400 env=3 +[ckpt_step_0100000] rollout 16/50: success=True steps=117 env=0 +[ckpt_step_0100000] rollout 17/50: success=True steps=213 env=9 +[ckpt_step_0100000] rollout 18/50: success=False steps=400 env=1 +[ckpt_step_0100000] rollout 19/50: success=True steps=136 env=3 +[ckpt_step_0100000] rollout 20/50: success=True steps=149 env=5 +[ckpt_step_0100000] rollout 21/50: success=False steps=400 env=7 +[ckpt_step_0100000] rollout 22/50: success=False steps=400 env=2 +[ckpt_step_0100000] rollout 23/50: success=False steps=400 env=6 +[ckpt_step_0100000] rollout 24/50: success=True steps=99 env=9 +[ckpt_step_0100000] rollout 25/50: success=False steps=400 env=8 +[ckpt_step_0100000] rollout 26/50: success=True steps=120 env=5 +[ckpt_step_0100000] rollout 27/50: success=True steps=167 env=0 +[ckpt_step_0100000] rollout 28/50: success=True steps=107 env=2 +[ckpt_step_0100000] rollout 29/50: success=True steps=144 env=7 +[ckpt_step_0100000] rollout 30/50: success=False steps=400 env=4 +[ckpt_step_0100000] rollout 31/50: success=True steps=102 env=9 +[ckpt_step_0100000] rollout 32/50: success=True steps=138 env=6 +[ckpt_step_0100000] rollout 33/50: success=True steps=139 env=8 +[ckpt_step_0100000] rollout 34/50: success=True steps=149 env=5 +[ckpt_step_0100000] rollout 35/50: success=True steps=142 env=0 +[ckpt_step_0100000] rollout 36/50: success=True steps=116 env=9 +[ckpt_step_0100000] rollout 37/50: success=True steps=127 env=8 +[ckpt_step_0100000] rollout 38/50: success=True steps=160 env=6 +[ckpt_step_0100000] rollout 39/50: success=False steps=400 env=1 +[ckpt_step_0100000] rollout 40/50: success=False steps=400 env=3 +[ckpt_step_0100000] rollout 41/50: success=True steps=118 env=9 +[ckpt_step_0100000] rollout 42/50: success=True steps=154 env=0 +[ckpt_step_0100000] rollout 43/50: success=True steps=133 env=8 +[ckpt_step_0100000] rollout 44/50: success=True steps=110 env=3 +[ckpt_step_0100000] rollout 45/50: success=True steps=137 env=1 +[ckpt_step_0100000] rollout 46/50: success=True steps=108 env=9 +[ckpt_step_0100000] rollout 47/50: success=False steps=400 env=2 +[ckpt_step_0100000] rollout 48/50: success=True steps=130 env=0 +[ckpt_step_0100000] rollout 49/50: success=False steps=400 env=7 +[ckpt_step_0100000] rollout 50/50: success=False steps=400 env=4 diff --git a/rollouts/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/wandb/run-20260826_002622-gokz9ryl/files/requirements.txt b/rollouts/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/wandb/run-20260826_002622-gokz9ryl/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a1cf38db7dae7c26582d5228c53a2dc93039f5db --- /dev/null +++ b/rollouts/sd1_place_sphere_20_dagger50_flow_train/sd1_50_rollouts/wandb/run-20260826_002622-gokz9ryl/files/requirements.txt @@ -0,0 +1,122 @@ +robopolicy==0.1.0 +psutil==7.2.2 +pytorch-seed==0.2.0 +nvidia-cuda-runtime==13.0.96 +annotated-doc==0.0.4 +filelock==3.30.2 +dacite==1.9.2 +Pygments==2.20.0 +mdurl==0.1.2 +kiwisolver==1.5.0 +gymnasium==1.3.0 +sapien==3.0.3 +fsspec==2026.6.0 +nvidia-nvjitlink==13.3.33 +httpx==0.28.1 +ipython==9.15.0 +sentry-sdk==2.66.0 +contourpy==1.3.3 +torch==2.13.0+cu130 +protobuf==7.35.1 +ImageIO==2.37.3 +networkx==3.6.1 +requests==2.34.2 +transformers==5.14.1 +tokenizers==0.22.2 +anyio==4.14.2 +regex==2026.7.10 +asttokens==3.0.2 +httpcore==1.0.9 +fonttools==4.63.0 +cycler==0.12.1 +cuda-pathfinder==1.5.6 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"/home/david/Document/robopolicy/runs/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/videos/ckpt_step_0100000/rollout_0058_partial/hand_camera.mp4", + "/home/david/Document/robopolicy/runs/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/videos/ckpt_step_0100000/rollout_0058_partial/base_camera.mp4" + ] + } + ] + } + ] +} \ No newline at end of file diff --git a/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/results.txt b/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..749496e4c693cadb0384cf4966e9aefd1c7101c1 --- /dev/null +++ b/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/results.txt @@ -0,0 +1,4 @@ +task=PlaceSphere-AllCams-v1 +num_checkpoints=1 + +ckpt_step_0100000: step=100000 success_rate=0.3000 success_count=15/50 mean_episode_length=319.92 diff --git a/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/wandb/run-20260825_122400-ldn29jq5/files/config.yaml b/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/wandb/run-20260825_122400-ldn29jq5/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c1784a02910d5fef430efba625ae7b7e479eb9ba --- /dev/null +++ b/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/wandb/run-20260825_122400-ldn29jq5/files/config.yaml @@ -0,0 +1,246 @@ +_wandb: + value: + cli_version: 0.28.1 + e: + j4h6c3mlsieshqtag76xnslz4dk4ehqe: + args: + - --config + - scripts/eval/maniskill_place_sphere_eval_config.json + - -o + - checkpoint_dir=/home/david/Document/robopolicy/runs/sd1_place_sphere_20_vigdagger20_flow_train/checkpoints + - -o + - output_name=sd1_50_rollouts + - -o + - num_rollouts=50 + - -o + - num_envs=10 + - -o + - horizon=400 + - -o + - video=true + - -o + - wandb=true + - -o + - latest_only=true + codePath: scripts/eval/maniskill_eval.py + codePathLocal: scripts/eval/maniskill_eval.py + cpu_count: 16 + cpu_count_logical: 32 + cudaVersion: "13.0" + disk: + /: + total: "1081101176832" + used: "862471069696" + email: chengenwu@berkeley.edu + executable: /home/david/Document/maniskill/.venv/bin/python + git: + commit: 532f65fc6c0467ca90242706d9f63519b102b752 + 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: "65677328384" + os: Linux-7.0.0-29-generic-x86_64-with-glibc2.43 + program: /home/david/Document/robopolicy/scripts/eval/maniskill_eval.py + python: CPython 3.11.15 + root: /home/david/Document/robopolicy/runs/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts + startedAt: "2026-08-25T19:24:00.036639Z" + writerId: j4h6c3mlsieshqtag76xnslz4dk4ehqe + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 61 + "4": 3.11.15 + "5": 0.28.1 + "12": 0.28.1 + "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: + - hand_camera + - base_camera + data_dir: /home/david/Document/dataset/place_sphere_20_vigdagger20_combined + 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: 1 + 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: + - 8 + source_type: hdf5 + - camera_names: [] + future: 0 + history: 0 + key: state + paths: + - obs/robot0_joint_pos + - obs/robot0_gripper_qpos + shape: + - 9 + source_type: hdf5 + - camera_names: + - hand_camera + - base_camera + future: 0 + history: 0 + key: images + paths: [] + shape: + - 3 + - 256 + - 256 + source_type: video +logging: + value: + out_dir: runs/sd1_place_sphere_20_vigdagger20_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: place_sphere + run_name: sd1_place_sphere_20_vigdagger20_flow_train +maniskill_eval: + value: + actions_per_step: 8 + checkpoint_dir: /home/david/Document/robopolicy/runs/sd1_place_sphere_20_vigdagger20_flow_train/checkpoints + control_mode: pd_joint_pos + horizon: 400 + num_envs: 10 + num_rollouts: 50 + obs_mode: rgbd + output_name: sd1_50_rollouts + policy_image_downsample_factor: 1 + seed: 0 + task: PlaceSphere-AllCams-v1 + video: true + video_cameras: + - hand_camera + - base_camera +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: "" +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: 100000 + seed: 1 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/wandb/run-20260825_122400-ldn29jq5/files/output.log b/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/wandb/run-20260825_122400-ldn29jq5/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..bb1eeb1b655291c9c584a8e525eefeacd8fdb738 --- /dev/null +++ b/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/wandb/run-20260825_122400-ldn29jq5/files/output.log @@ -0,0 +1,56 @@ +2026-08-25 12:24:01,259 - mani_skill - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended +2026-08-25 12:24:02,209 - mani_skill - WARNING - No initial pose set for actor builder of sphere, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-08-25 12:24:02,210 - mani_skill - WARNING - No initial pose set for actor builder of bin, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd1_place_sphere_20_vigdagger20_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +Loading weights: 100%|██████████| 223/223 [00:00<00:00, 23395.53it/s] +[extract_model_images] camera_names=['hand_camera', 'base_camera'] per_camera_shapes=[(10, 3, 256, 256), (10, 3, 256, 256)] return_shape=(10, 2, 3, 256, 256) +[ckpt_step_0100000] rollout 1/50: success=True steps=106 env=5 +[ckpt_step_0100000] rollout 2/50: success=True steps=131 env=2 +[ckpt_step_0100000] rollout 3/50: success=True steps=161 env=4 +[ckpt_step_0100000] rollout 4/50: success=True steps=174 env=3 +[ckpt_step_0100000] rollout 5/50: success=False steps=400 env=0 +[ckpt_step_0100000] rollout 6/50: success=False steps=400 env=1 +[ckpt_step_0100000] rollout 7/50: success=False steps=400 env=6 +[ckpt_step_0100000] rollout 8/50: success=False steps=400 env=7 +[ckpt_step_0100000] rollout 9/50: success=False steps=400 env=8 +[ckpt_step_0100000] rollout 10/50: success=False steps=400 env=9 +[ckpt_step_0100000] rollout 11/50: success=False steps=400 env=5 +[ckpt_step_0100000] rollout 12/50: success=False steps=400 env=2 +[ckpt_step_0100000] rollout 13/50: success=True steps=134 env=6 +[ckpt_step_0100000] rollout 14/50: success=True steps=151 env=9 +[ckpt_step_0100000] rollout 15/50: success=False steps=400 env=4 +[ckpt_step_0100000] rollout 16/50: success=False steps=400 env=3 +[ckpt_step_0100000] rollout 17/50: success=True steps=178 env=0 +[ckpt_step_0100000] rollout 18/50: success=True steps=124 env=5 +[ckpt_step_0100000] rollout 19/50: success=True steps=106 env=9 +[ckpt_step_0100000] rollout 20/50: success=True steps=120 env=0 +[ckpt_step_0100000] rollout 21/50: success=False steps=400 env=1 +[ckpt_step_0100000] rollout 22/50: success=False steps=400 env=7 +[ckpt_step_0100000] rollout 23/50: success=False steps=400 env=8 +[ckpt_step_0100000] rollout 24/50: success=True steps=110 env=7 +[ckpt_step_0100000] rollout 25/50: success=False steps=400 env=2 +[ckpt_step_0100000] rollout 26/50: success=False steps=400 env=6 +[ckpt_step_0100000] rollout 27/50: success=False steps=400 env=4 +[ckpt_step_0100000] rollout 28/50: success=False steps=400 env=3 +[ckpt_step_0100000] rollout 29/50: success=False steps=400 env=5 +[ckpt_step_0100000] rollout 30/50: success=False steps=400 env=9 +[ckpt_step_0100000] rollout 31/50: success=False steps=400 env=0 +[ckpt_step_0100000] rollout 32/50: success=False steps=400 env=1 +[ckpt_step_0100000] rollout 33/50: success=False steps=400 env=8 +[ckpt_step_0100000] rollout 34/50: success=False steps=400 env=7 +[ckpt_step_0100000] rollout 35/50: success=False steps=400 env=2 +[ckpt_step_0100000] rollout 36/50: success=False steps=400 env=6 +[ckpt_step_0100000] rollout 37/50: success=True steps=139 env=8 +[ckpt_step_0100000] rollout 38/50: success=False steps=400 env=4 +[ckpt_step_0100000] rollout 39/50: success=False steps=400 env=3 +[ckpt_step_0100000] rollout 40/50: success=False steps=400 env=5 +[ckpt_step_0100000] rollout 41/50: success=False steps=400 env=9 +[ckpt_step_0100000] rollout 42/50: success=False steps=400 env=0 +[ckpt_step_0100000] rollout 43/50: success=True steps=118 env=5 +[ckpt_step_0100000] rollout 44/50: success=False steps=400 env=1 +[ckpt_step_0100000] rollout 45/50: success=True steps=129 env=0 +[ckpt_step_0100000] rollout 46/50: success=True steps=115 env=5 +[ckpt_step_0100000] rollout 47/50: success=False steps=400 env=7 +[ckpt_step_0100000] rollout 48/50: success=False steps=400 env=2 +[ckpt_step_0100000] rollout 49/50: success=False steps=400 env=6 +[ckpt_step_0100000] rollout 50/50: success=False steps=400 env=8 diff --git a/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/wandb/run-20260825_122400-ldn29jq5/files/requirements.txt b/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/wandb/run-20260825_122400-ldn29jq5/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a1cf38db7dae7c26582d5228c53a2dc93039f5db --- /dev/null +++ b/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/wandb/run-20260825_122400-ldn29jq5/files/requirements.txt @@ -0,0 +1,122 @@ +robopolicy==0.1.0 +psutil==7.2.2 +pytorch-seed==0.2.0 +nvidia-cuda-runtime==13.0.96 +annotated-doc==0.0.4 +filelock==3.30.2 +dacite==1.9.2 +Pygments==2.20.0 +mdurl==0.1.2 +kiwisolver==1.5.0 +gymnasium==1.3.0 +sapien==3.0.3 +fsspec==2026.6.0 +nvidia-nvjitlink==13.3.33 +httpx==0.28.1 +ipython==9.15.0 +sentry-sdk==2.66.0 +contourpy==1.3.3 +torch==2.13.0+cu130 +protobuf==7.35.1 +ImageIO==2.37.3 +networkx==3.6.1 +requests==2.34.2 +transformers==5.14.1 +tokenizers==0.22.2 +anyio==4.14.2 +regex==2026.7.10 +asttokens==3.0.2 +httpcore==1.0.9 +fonttools==4.63.0 +cycler==0.12.1 +cuda-pathfinder==1.5.6 +h11==0.16.0 +mplib==0.1.1 +cloudpickle==3.1.2 +nvidia-cusparse==12.6.3.3 +triton==3.7.1 +pillow==12.3.0 +packaging==26.2 +typing-inspection==0.4.2 +nvidia-ml-py==13.610.43 +python-dateutil==2.9.0.post0 +markdown-it-py==4.2.0 +torchvision==0.28.0+cu130 +pexpect==4.9.0 +rich==15.0.0 +nvidia-cudnn-cu13==9.20.0.48 +cuda-bindings==13.3.1 +platformdirs==4.10.0 +typeguard==4.5.2 +docstring_parser==0.18.0 +setuptools==83.0.0 +cuda-toolkit==13.0.3.0 +nvidia-curand==10.4.0.35 +traitlets==5.15.1 +ipython_pygments_lexers==1.1.1 +nvidia-cufft==12.0.0.61 +nvidia-cublas==13.1.1.3 +nvidia-nccl-cu13==2.29.7 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +tqdm==4.68.4 +lxml==6.1.1 +GitPython==3.1.52 +idna==3.18 +executing==2.2.1 +shellingham==1.5.4 +nvidia-nvshmem-cu13==3.4.5 +parso==0.8.7 +toppra==0.6.3 +matplotlib==3.11.0 +annotated-types==0.7.0 +jedi==0.20.0 +opencv-python==5.0.0.93 +tyro==1.0.15 +PyYAML==6.0.3 +safetensors==0.8.0 +transforms3d==0.4.2 +pytorch-kinematics==0.7.6 +nvidia-cusolver==12.0.4.66 +stack-data==0.6.3 +pyparsing==3.3.2 +pydantic==2.13.4 +nvidia-cuda-nvrtc==13.0.88 +click==8.4.2 +gitdb==4.0.12 +importlib_resources==7.1.0 +defusedxml==0.7.1 +mani_skill==3.0.1 +sympy==1.14.0 +absl-py==2.5.0 +nvidia-cusparselt-cu13==0.8.1 +numpy==1.26.4 +pyperclip==1.11.0 +arm_pytorch_utilities==0.5.0 +certifi==2026.6.17 +wandb==0.28.1 +wcwidth==0.8.2 +urllib3==2.7.0 +MarkupSafe==3.0.3 +scipy==1.17.1 +nvidia-cufile==1.15.1.6 +ptyprocess==0.7.0 +charset-normalizer==3.4.9 +Jinja2==3.1.6 +pydantic_core==2.46.4 +nvidia-nvtx==13.0.85 +h5py==3.16.0 +typing_extensions==4.16.0 +decorator==5.3.1 +mpmath==1.3.0 +Farama-Notifications==0.0.6 +typer==0.27.0 +hf-xet==1.5.2 +prompt_toolkit==3.0.52 +huggingface_hub==1.23.0 +tabulate==0.10.0 +pure_eval==0.2.3 +trimesh==4.12.2 +matplotlib-inline==0.2.2 +nvidia-cuda-cupti==13.0.85 +six==1.17.0 diff --git a/rollouts/sd1_place_sphere_20_vigdagger20_flow_train/sd1_50_rollouts/wandb/run-20260825_122400-ldn29jq5/files/wandb-metadata.json 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stage_charger_picked=0.3400(17/50) stage_charger_placed=0.3200(16/50) stage_drawer_closed=0.2800(14/50) stage_drawer_opened_conditional=0.8800(44/50) stage_charger_picked_conditional=0.3864(17/44) stage_charger_placed_conditional=0.9412(16/17) stage_drawer_closed_conditional=0.8750(14/16) diff --git a/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_054500-rvnt77qv/files/config.yaml b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_054500-rvnt77qv/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a1a6a714bc36399d52b4185ca68a432910963d94 --- /dev/null +++ b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_054500-rvnt77qv/files/config.yaml @@ -0,0 +1,261 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + 4nesf4f8ami4ooq2z6wp9kynmpvi5733: + 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/sd2_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd2_new_opendrawer_30_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: "892372267008" + 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/sd2_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts + startedAt: "2026-07-17T12:45:00.843329Z" + writerId: 4nesf4f8ami4ooq2z6wp9kynmpvi5733 + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_30_vig_dagger_th3_ema5_split_sd2 + 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: 2 + 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/sd2_new_opendrawer_30_vig_dagger_th3_ema5_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_dagger + run_name: sd2_new_opendrawer_30_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/sd2_new_opendrawer_30_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: 2 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_054500-rvnt77qv/files/output.log b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_054500-rvnt77qv/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..d84595c008d03255f17855d39996a5b08d44b9e4 --- /dev/null +++ b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_054500-rvnt77qv/files/output.log @@ -0,0 +1,285 @@ +[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_05-45-01.log +======================================================================================================== + +05:45:01 [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 +05:45:02 [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 : 0.590321 seconds +[INFO]: Scene manager: + 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 : 4.217096 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd2_new_opendrawer_30_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 [7] +[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 [0] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] 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1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 [2] +[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 [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[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 [1] +[ckpt_step_0100000] rollout 1/50: success=True steps=1027 env=2 +[ckpt_step_0100000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=1 +[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=True steps=703 env=1 +[ckpt_step_0100000] rollout 12/50: success=True steps=728 env=4 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=3 +[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=True steps=688 env=1 +[ckpt_step_0100000] rollout 22/50: success=True steps=640 env=3 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=0 +[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=False steps=1200 env=1 +[ckpt_step_0100000] rollout 32/50: success=True steps=741 env=2 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 34/50: success=True steps=650 env=7 +[ckpt_step_0100000] rollout 35/50: success=True steps=687 env=6 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=5 +[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=651 env=2 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 43/50: success=True steps=918 env=4 +[ckpt_step_0100000] rollout 44/50: success=True steps=625 env=5 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 47/50: success=True steps=661 env=2 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 49/50: success=True steps=719 env=0 +[ckpt_step_0100000] rollout 50/50: success=True steps=577 env=1 diff --git a/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_054500-rvnt77qv/files/requirements.txt b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_054500-rvnt77qv/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_054500-rvnt77qv/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 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 +gunicorn==23.0.0 +transformers==4.57.6 +omegaconf==2.3.0 +contourpy==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +azure-storage-blob==12.17.0 +ray==2.52.1 +tqdm==4.67.3 +PyYAML==6.0.2 +qdldl==0.1.7.post5 +gitdb==4.0.12 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index 0000000000000000000000000000000000000000..3504ad9e131715be5e1df15618219d2a364289dd --- /dev/null +++ b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_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=0.1400 success_count=7/50 mean_episode_length=1138.00 stage_drawer_opened=0.7200(36/50) stage_charger_picked=0.2200(11/50) stage_charger_placed=0.1600(8/50) stage_drawer_closed=0.1400(7/50) stage_drawer_opened_conditional=0.7200(36/50) stage_charger_picked_conditional=0.3056(11/36) stage_charger_placed_conditional=0.7273(8/11) stage_drawer_closed_conditional=0.8750(7/8) diff --git a/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/files/config.yaml b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0d360118805c844862db2be4477f8453a4638130 --- /dev/null +++ b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/files/config.yaml @@ -0,0 +1,261 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + ceqy88lnkjmsvx4mp1r0ixtfcn7x2cpd: + 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/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd2_new_opendrawer_30_vig_dagger_th3_ema8_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: "943995052032" + 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/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts + startedAt: "2026-07-19T15:14:57.375060Z" + writerId: ceqy88lnkjmsvx4mp1r0ixtfcn7x2cpd + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_30_vig_dagger_th3_ema8_split_sd2 + 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: 2 + 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/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_dagger + run_name: sd2_new_opendrawer_30_vig_dagger_th3_ema8 +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/sd2_new_opendrawer_30_vig_dagger_th3_ema8_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: 2 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/files/output.log b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..92ca49c08fdf7566426de245289c40d90e795a0c --- /dev/null +++ b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/files/output.log @@ -0,0 +1,259 @@ +[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_2026-07-19_08-14-58.log +======================================================================================================== + +08:14:58 [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 +08:14:58 [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 : 0.539118 seconds +[INFO]: Scene manager: + 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 : 4.211408 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd2_new_opendrawer_30_vig_dagger_th3_ema8_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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [0] +[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 [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[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=True steps=662 env=4 +[ckpt_step_0100000] rollout 12/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=3 +[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=4 +[ckpt_step_0100000] rollout 22/50: success=True steps=706 env=9 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 31/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 32/50: success=True steps=695 env=7 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 34/50: success=True steps=724 env=1 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 41/50: success=True steps=673 env=7 +[ckpt_step_0100000] rollout 42/50: success=True steps=1032 env=1 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 45/50: success=True steps=808 env=6 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 49/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=8 diff --git a/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/files/requirements.txt b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/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 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 +gunicorn==23.0.0 +transformers==4.57.6 +omegaconf==2.3.0 +contourpy==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +azure-storage-blob==12.17.0 +ray==2.52.1 +tqdm==4.67.3 +PyYAML==6.0.2 +qdldl==0.1.7.post5 +gitdb==4.0.12 +qpsolvers==4.12.0 +wheel==0.47.0 +fastapi==0.115.7 +nvidia-cudnn-cu12==9.7.1.26 +sympy==1.14.0 +kiwisolver==1.4.4 +isaacsim-ros2==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.8.61 +aioboto3==15.1.0 +wandb==0.27.0 +numpy==1.26.4 +protobuf==7.35.0 +torchaudio==2.7.0 +nvidia-cufile-cu12==1.13.0.11 +certifi==2026.5.20 +attrs==25.1.0 +urllib3==2.7.0 +iniconfig==2.3.0 +cryptography==44.0.0 +isaacsim-replicator==5.1.0.0 +pytransform3d==3.15.0 +MarkupSafe==3.0.3 +opencv-python-headless==4.11.0.86 +setproctitle==1.3.7 +isaacsim-utils==5.1.0.0 +ptyprocess==0.7.0 +flatdict==4.1.0 +isaacsim-asset==5.1.0.0 +cffi==2.0.0 +skrl==2.1.0 +loop-rate-limiters==1.2.0 +nvidia-cublas-cu12==12.8.3.14 +GitPython==3.1.50 +Jinja2==3.1.6 +cmeel-urdfdom==3.1.1.1 +proglog==0.1.12 +isaaclab_rl==0.5.1 +s3transfer==0.13.1 +pin==2.7.0 +h5py==3.16.0 +widgetsnbextension==4.0.15 +decorator==5.3.1 +mpmath==1.3.0 +triton==3.3.0 +oauthlib==3.2.2 +Farama-Notifications==0.0.6 +llvmlite==0.42.0 +prompt_toolkit==3.0.52 +onnx-ir==0.2.1 +matplotlib==3.10.3 +einops==0.8.2 +warp-lang==1.13.0 +requests-oauthlib==1.3.1 +pypng==0.20220715.0 +pure_eval==0.2.3 +antlr4-python3-runtime==4.9.3 +matplotlib-inline==0.2.2 +ipywidgets==8.1.5 +safetensors==0.7.0 +flaky==3.8.1 +six==1.17.0 +idna==3.10 +nvidia-nccl-cu12==2.26.2 +dex_retargeting==0.4.6 diff --git a/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/files/wandb-metadata.json b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f2d227113d0f5e8fc53379db35539dd045c54b3b --- /dev/null +++ b/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/files/wandb-metadata.json @@ -0,0 +1,56 @@ +{ + "os": "Linux-7.0.0-22-generic-x86_64-with-glibc2.43", + "python": "CPython 3.11.15", + "startedAt": "2026-07-19T15:14:57.375060Z", + "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/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/checkpoints", + "-o", + "output_name=sd0_50_rollouts", + "-o", + "wandb_run_name=sd2_new_opendrawer_30_vig_dagger_th3_ema8_eval_sd0_50_rollouts" + ], + "program": "/home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py", + "codePath": "scripts/eval/roboticsarmsim_eval.py", + "codePathLocal": "scripts/eval/roboticsarmsim_eval.py", + "git": { + "remote": "git@github.com:YixiaoWang7/robopolicy.git", + "commit": "c606b3ecb440dfcb42be760899388ec0a3cdcbf8" + }, + "email": "chengenwu@berkeley.edu", + "root": "/home/david/Document/robopolicy/runs/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts", + "host": "yixiao-G914", + "executable": "/home/david/Document/env_isaaclab/bin/python", + "cpu_count": 16, + "cpu_count_logical": 32, + "gpu": "NVIDIA GeForce RTX 5090", + "gpu_count": 1, + "disk": { + "/": { + "total": "1081101176832", + "used": "943995052032" + } + }, + "memory": { + "total": "65677729792" + }, + "gpu_nvidia": [ + { + "name": "NVIDIA GeForce RTX 5090", + "memoryTotal": "34190917632", + "cudaCores": 21760, + "architecture": "Blackwell", + "uuid": "GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b" + } + ], + "cudaVersion": "13.0", + "writerId": "ceqy88lnkjmsvx4mp1r0ixtfcn7x2cpd" +} \ No newline at end of file diff --git a/rollouts/sd2_new_opendrawer_30_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_081457-6966g46f/files/wandb-summary.json 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+task=OpenDrawer-ManagerBased-v0 +num_checkpoints=1 + +ckpt_step_0100000: step=100000 success_rate=0.2400 success_count=12/50 mean_episode_length=1104.86 stage_drawer_opened=0.7800(39/50) stage_charger_picked=0.2800(14/50) stage_charger_placed=0.2400(12/50) stage_drawer_closed=0.2400(12/50) stage_drawer_opened_conditional=0.7800(39/50) stage_charger_picked_conditional=0.3590(14/39) stage_charger_placed_conditional=0.8571(12/14) stage_drawer_closed_conditional=1.0000(12/12) diff --git a/rollouts/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_233620-q9vh56il/files/config.yaml b/rollouts/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_233620-q9vh56il/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ba2944de0dec867d802840df6264e1811c4a3f03 --- /dev/null +++ b/rollouts/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_233620-q9vh56il/files/config.yaml @@ -0,0 +1,261 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + dabs275p0dbpybvdm0obmda0bidy2sqg: + 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/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd2_new_opendrawer_45_vig_dagger_th3_ema2_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: "999319326720" + email: chengenwu@berkeley.edu + executable: /home/david/Document/env_isaaclab/bin/python + git: + commit: 3b4ad30ddd5c02c2805940a48ed7478fd095dca8 + 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/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts + startedAt: "2026-07-15T06:36:20.104076Z" + writerId: dabs275p0dbpybvdm0obmda0bidy2sqg + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_ema2_split_sd2 + 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: 1 + 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/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_dagger + run_name: sd2_new_opendrawer_45_vig_dagger_th3_ema2 +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/sd2_new_opendrawer_45_vig_dagger_th3_ema2_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: 1 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_233620-q9vh56il/files/output.log b/rollouts/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_233620-q9vh56il/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..7bc0a282eecc7de3cbd10b74bfae59dc1c61fac3 --- /dev/null +++ b/rollouts/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_233620-q9vh56il/files/output.log @@ -0,0 +1,273 @@ +[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_2026-07-14_23-36-21.log +======================================================================================================== + +23:36:21 [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 +23:36:21 [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 : 0.559897 seconds +[INFO]: Scene manager: + 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 : 4.257016 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd2_new_opendrawer_45_vig_dagger_th3_ema2_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 [3] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[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 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[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 [2, 3] +[OpenDrawer] stage 1 drawer opened 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 [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened 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 [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[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 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 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[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 [1] +[ckpt_step_0100000] rollout 1/50: success=True steps=765 env=3 +[ckpt_step_0100000] rollout 2/50: success=True steps=922 env=1 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=2 +[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=True steps=716 env=2 +[ckpt_step_0100000] rollout 12/50: success=True steps=750 env=5 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 14/50: success=True steps=796 env=8 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 21/50: success=True steps=645 env=4 +[ckpt_step_0100000] rollout 22/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 23/50: success=True steps=730 env=0 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 31/50: success=True steps=833 env=3 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 38/50: success=True steps=1000 env=7 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 41/50: success=True steps=669 env=4 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 43/50: success=True steps=950 env=5 +[ckpt_step_0100000] rollout 44/50: success=True steps=867 env=7 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 49/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=9 diff --git a/rollouts/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_233620-q9vh56il/files/requirements.txt b/rollouts/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_233620-q9vh56il/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_233620-q9vh56il/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 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 +gunicorn==23.0.0 +transformers==4.57.6 +omegaconf==2.3.0 +contourpy==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +azure-storage-blob==12.17.0 +ray==2.52.1 +tqdm==4.67.3 +PyYAML==6.0.2 +qdldl==0.1.7.post5 +gitdb==4.0.12 +qpsolvers==4.12.0 +wheel==0.47.0 +fastapi==0.115.7 +nvidia-cudnn-cu12==9.7.1.26 +sympy==1.14.0 +kiwisolver==1.4.4 +isaacsim-ros2==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.8.61 +aioboto3==15.1.0 +wandb==0.27.0 +numpy==1.26.4 +protobuf==7.35.0 +torchaudio==2.7.0 +nvidia-cufile-cu12==1.13.0.11 +certifi==2026.5.20 +attrs==25.1.0 +urllib3==2.7.0 +iniconfig==2.3.0 +cryptography==44.0.0 +isaacsim-replicator==5.1.0.0 +pytransform3d==3.15.0 +MarkupSafe==3.0.3 +opencv-python-headless==4.11.0.86 +setproctitle==1.3.7 +isaacsim-utils==5.1.0.0 +ptyprocess==0.7.0 +flatdict==4.1.0 +isaacsim-asset==5.1.0.0 +cffi==2.0.0 +skrl==2.1.0 +loop-rate-limiters==1.2.0 +nvidia-cublas-cu12==12.8.3.14 +GitPython==3.1.50 +Jinja2==3.1.6 +cmeel-urdfdom==3.1.1.1 +proglog==0.1.12 +isaaclab_rl==0.5.1 +s3transfer==0.13.1 +pin==2.7.0 +h5py==3.16.0 +widgetsnbextension==4.0.15 +decorator==5.3.1 +mpmath==1.3.0 +triton==3.3.0 +oauthlib==3.2.2 +Farama-Notifications==0.0.6 +llvmlite==0.42.0 +prompt_toolkit==3.0.52 +onnx-ir==0.2.1 +matplotlib==3.10.3 +einops==0.8.2 +warp-lang==1.13.0 +requests-oauthlib==1.3.1 +pypng==0.20220715.0 +pure_eval==0.2.3 +antlr4-python3-runtime==4.9.3 +matplotlib-inline==0.2.2 +ipywidgets==8.1.5 +safetensors==0.7.0 +flaky==3.8.1 +six==1.17.0 +idna==3.10 +nvidia-nccl-cu12==2.26.2 +dex_retargeting==0.4.6 diff --git a/rollouts/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_233620-q9vh56il/files/wandb-metadata.json b/rollouts/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_233620-q9vh56il/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..17a564a34774774e14ca78e28a9c17f2414fb17c --- /dev/null +++ b/rollouts/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_233620-q9vh56il/files/wandb-metadata.json @@ -0,0 +1,56 @@ +{ + "os": "Linux-7.0.0-22-generic-x86_64-with-glibc2.43", + "python": "CPython 3.11.15", + "startedAt": "2026-07-15T06:36:20.104076Z", + "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/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/checkpoints", + "-o", + "output_name=sd0_50_rollouts", + "-o", + "wandb_run_name=sd2_new_opendrawer_45_vig_dagger_th3_ema2_eval_sd0_50_rollouts" + ], + "program": "/home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py", + "codePath": "scripts/eval/roboticsarmsim_eval.py", + "codePathLocal": "scripts/eval/roboticsarmsim_eval.py", + "git": { + "remote": "git@github.com:YixiaoWang7/robopolicy.git", + "commit": "3b4ad30ddd5c02c2805940a48ed7478fd095dca8" + }, + "email": "chengenwu@berkeley.edu", + "root": "/home/david/Document/robopolicy/runs/sd2_new_opendrawer_45_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts", + "host": "yixiao-G914", + "executable": "/home/david/Document/env_isaaclab/bin/python", + "cpu_count": 16, + "cpu_count_logical": 32, + "gpu": "NVIDIA GeForce RTX 5090", + "gpu_count": 1, + "disk": { + "/": { + "total": "1081101176832", + "used": "999319326720" + } + }, + "memory": { + "total": "65677729792" + }, + "gpu_nvidia": [ + { + "name": "NVIDIA GeForce RTX 5090", + "memoryTotal": "34190917632", + "cudaCores": 21760, + "architecture": "Blackwell", + "uuid": "GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b" + } + ], + "cudaVersion": "13.0", + "writerId": "dabs275p0dbpybvdm0obmda0bidy2sqg" +} \ No newline at end of file diff --git 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a/rollouts/sd2_place_sphere_20_dagger50_flow_train/sd2_50_rollouts/wandb/run-20260826_163032-l8sbaw7h/files/config.yaml b/rollouts/sd2_place_sphere_20_dagger50_flow_train/sd2_50_rollouts/wandb/run-20260826_163032-l8sbaw7h/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..58373a4bc0fd1143cb373b6256f2302723014a99 --- /dev/null +++ b/rollouts/sd2_place_sphere_20_dagger50_flow_train/sd2_50_rollouts/wandb/run-20260826_163032-l8sbaw7h/files/config.yaml @@ -0,0 +1,246 @@ +_wandb: + value: + cli_version: 0.28.1 + e: + it0xs3lbt4zc2xin9vxr53o8fbuxt4zi: + args: + - --config + - scripts/eval/maniskill_place_sphere_eval_config.json + - -o + - checkpoint_dir=/home/david/Document/robopolicy/runs/sd2_place_sphere_20_dagger50_flow_train/checkpoints + - -o + - output_name=sd2_50_rollouts + - -o + - num_rollouts=50 + - -o + - num_envs=10 + - -o + - horizon=400 + - -o + - video=true + - -o + - wandb=true + - -o + - latest_only=true + codePath: scripts/eval/maniskill_eval.py + codePathLocal: scripts/eval/maniskill_eval.py + cpu_count: 16 + cpu_count_logical: 32 + cudaVersion: "13.0" + disk: + /: + total: "1081101176832" + used: "869159014400" + email: chengenwu@berkeley.edu + executable: /home/david/Document/maniskill/.venv/bin/python + git: + commit: 532f65fc6c0467ca90242706d9f63519b102b752 + 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: "65677328384" + os: Linux-7.0.0-29-generic-x86_64-with-glibc2.43 + program: /home/david/Document/robopolicy/scripts/eval/maniskill_eval.py + python: CPython 3.11.15 + root: /home/david/Document/robopolicy/runs/sd2_place_sphere_20_dagger50_flow_train/sd2_50_rollouts + startedAt: "2026-08-26T23:30:32.118346Z" + writerId: it0xs3lbt4zc2xin9vxr53o8fbuxt4zi + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 61 + "4": 3.11.15 + "5": 0.28.1 + "12": 0.28.1 + "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: + - hand_camera + - base_camera + data_dir: /home/david/Document/dataset/place_sphere_20_dagger50_combined + 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: 2 + 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: + - 8 + source_type: hdf5 + - camera_names: [] + future: 0 + history: 0 + key: state + paths: + - obs/robot0_joint_pos + - obs/robot0_gripper_qpos + shape: + - 9 + source_type: hdf5 + - camera_names: + - hand_camera + - base_camera + future: 0 + history: 0 + key: images + paths: [] + shape: + - 3 + - 256 + - 256 + source_type: video +logging: + value: + out_dir: runs/sd2_place_sphere_20_dagger50_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: place_sphere + run_name: sd2_place_sphere_20_dagger50_flow_train +maniskill_eval: + value: + actions_per_step: 8 + checkpoint_dir: /home/david/Document/robopolicy/runs/sd2_place_sphere_20_dagger50_flow_train/checkpoints + control_mode: pd_joint_pos + horizon: 400 + num_envs: 10 + num_rollouts: 50 + obs_mode: rgbd + output_name: sd2_50_rollouts + policy_image_downsample_factor: 1 + seed: 0 + task: PlaceSphere-AllCams-v1 + video: true + video_cameras: + - hand_camera + - base_camera +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: "" +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: 100000 + seed: 2 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd2_place_sphere_20_dagger50_flow_train/sd2_50_rollouts/wandb/run-20260826_163032-l8sbaw7h/files/output.log b/rollouts/sd2_place_sphere_20_dagger50_flow_train/sd2_50_rollouts/wandb/run-20260826_163032-l8sbaw7h/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..05d4ca7e893a7adc5a9b0167fe6569a8af7a0cd9 --- /dev/null +++ b/rollouts/sd2_place_sphere_20_dagger50_flow_train/sd2_50_rollouts/wandb/run-20260826_163032-l8sbaw7h/files/output.log @@ -0,0 +1,56 @@ +2026-08-26 16:30:32,720 - mani_skill - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended +2026-08-26 16:30:33,692 - mani_skill - WARNING - No initial pose set for actor builder of sphere, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +2026-08-26 16:30:33,693 - mani_skill - WARNING - No initial pose set for actor builder of bin, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421. +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd2_place_sphere_20_dagger50_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +Loading weights: 100%|██████████| 223/223 [00:00<00:00, 20250.93it/s] +[extract_model_images] camera_names=['hand_camera', 'base_camera'] per_camera_shapes=[(10, 3, 256, 256), (10, 3, 256, 256)] return_shape=(10, 2, 3, 256, 256) +[ckpt_step_0100000] rollout 1/50: success=True steps=114 env=2 +[ckpt_step_0100000] rollout 2/50: success=True steps=115 env=6 +[ckpt_step_0100000] rollout 3/50: success=True steps=128 env=0 +[ckpt_step_0100000] rollout 4/50: success=True steps=140 env=5 +[ckpt_step_0100000] rollout 5/50: success=True steps=141 env=4 +[ckpt_step_0100000] rollout 6/50: success=True steps=143 env=1 +[ckpt_step_0100000] rollout 7/50: success=True steps=145 env=8 +[ckpt_step_0100000] rollout 8/50: success=True steps=149 env=9 +[ckpt_step_0100000] rollout 9/50: success=True steps=88 env=2 +[ckpt_step_0100000] rollout 10/50: success=True steps=121 env=6 +[ckpt_step_0100000] rollout 11/50: success=True steps=112 env=8 +[ckpt_step_0100000] rollout 12/50: success=True steps=153 env=1 +[ckpt_step_0100000] rollout 13/50: success=True steps=171 env=0 +[ckpt_step_0100000] rollout 14/50: success=True steps=102 env=2 +[ckpt_step_0100000] rollout 15/50: success=False steps=400 env=3 +[ckpt_step_0100000] rollout 16/50: success=False steps=400 env=7 +[ckpt_step_0100000] rollout 17/50: success=True steps=109 env=0 +[ckpt_step_0100000] rollout 18/50: success=True steps=153 env=1 +[ckpt_step_0100000] rollout 19/50: success=True steps=350 env=5 +[ckpt_step_0100000] rollout 20/50: success=True steps=255 env=6 +[ckpt_step_0100000] rollout 21/50: success=True steps=122 env=7 +[ckpt_step_0100000] rollout 22/50: success=False steps=400 env=4 +[ckpt_step_0100000] rollout 23/50: success=False steps=400 env=9 +[ckpt_step_0100000] rollout 24/50: success=True steps=170 env=3 +[ckpt_step_0100000] rollout 25/50: success=True steps=147 env=1 +[ckpt_step_0100000] rollout 26/50: success=True steps=127 env=6 +[ckpt_step_0100000] rollout 27/50: success=True steps=93 env=9 +[ckpt_step_0100000] rollout 28/50: success=False steps=400 env=8 +[ckpt_step_0100000] rollout 29/50: success=True steps=119 env=3 +[ckpt_step_0100000] rollout 30/50: success=False steps=400 env=2 +[ckpt_step_0100000] rollout 31/50: success=True steps=119 env=1 +[ckpt_step_0100000] rollout 32/50: success=True steps=98 env=6 +[ckpt_step_0100000] rollout 33/50: success=True steps=101 env=9 +[ckpt_step_0100000] rollout 34/50: success=True steps=110 env=8 +[ckpt_step_0100000] rollout 35/50: success=False steps=400 env=0 +[ckpt_step_0100000] rollout 36/50: success=True steps=130 env=3 +[ckpt_step_0100000] rollout 37/50: success=True steps=116 env=2 +[ckpt_step_0100000] rollout 38/50: success=True steps=108 env=1 +[ckpt_step_0100000] rollout 39/50: success=True steps=117 env=9 +[ckpt_step_0100000] rollout 40/50: success=True steps=113 env=8 +[ckpt_step_0100000] rollout 41/50: success=False steps=400 env=5 +[ckpt_step_0100000] rollout 42/50: success=True steps=179 env=6 +[ckpt_step_0100000] rollout 43/50: success=False steps=400 env=7 +[ckpt_step_0100000] rollout 44/50: success=True steps=100 env=1 +[ckpt_step_0100000] rollout 45/50: success=True steps=126 env=0 +[ckpt_step_0100000] rollout 46/50: success=False steps=400 env=4 +[ckpt_step_0100000] rollout 47/50: success=True steps=126 env=2 +[ckpt_step_0100000] rollout 48/50: success=True steps=111 env=9 +[ckpt_step_0100000] rollout 49/50: success=True steps=103 env=6 +[ckpt_step_0100000] rollout 50/50: success=True steps=180 env=3 diff --git a/rollouts/sd2_place_sphere_20_dagger50_flow_train/sd2_50_rollouts/wandb/run-20260826_163032-l8sbaw7h/files/requirements.txt b/rollouts/sd2_place_sphere_20_dagger50_flow_train/sd2_50_rollouts/wandb/run-20260826_163032-l8sbaw7h/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a1cf38db7dae7c26582d5228c53a2dc93039f5db --- /dev/null +++ b/rollouts/sd2_place_sphere_20_dagger50_flow_train/sd2_50_rollouts/wandb/run-20260826_163032-l8sbaw7h/files/requirements.txt @@ -0,0 +1,122 @@ +robopolicy==0.1.0 +psutil==7.2.2 +pytorch-seed==0.2.0 +nvidia-cuda-runtime==13.0.96 +annotated-doc==0.0.4 +filelock==3.30.2 +dacite==1.9.2 +Pygments==2.20.0 +mdurl==0.1.2 +kiwisolver==1.5.0 +gymnasium==1.3.0 +sapien==3.0.3 +fsspec==2026.6.0 +nvidia-nvjitlink==13.3.33 +httpx==0.28.1 +ipython==9.15.0 +sentry-sdk==2.66.0 +contourpy==1.3.3 +torch==2.13.0+cu130 +protobuf==7.35.1 +ImageIO==2.37.3 +networkx==3.6.1 +requests==2.34.2 +transformers==5.14.1 +tokenizers==0.22.2 +anyio==4.14.2 +regex==2026.7.10 +asttokens==3.0.2 +httpcore==1.0.9 +fonttools==4.63.0 +cycler==0.12.1 +cuda-pathfinder==1.5.6 +h11==0.16.0 +mplib==0.1.1 +cloudpickle==3.1.2 +nvidia-cusparse==12.6.3.3 +triton==3.7.1 +pillow==12.3.0 +packaging==26.2 +typing-inspection==0.4.2 +nvidia-ml-py==13.610.43 +python-dateutil==2.9.0.post0 +markdown-it-py==4.2.0 +torchvision==0.28.0+cu130 +pexpect==4.9.0 +rich==15.0.0 +nvidia-cudnn-cu13==9.20.0.48 +cuda-bindings==13.3.1 +platformdirs==4.10.0 +typeguard==4.5.2 +docstring_parser==0.18.0 +setuptools==83.0.0 +cuda-toolkit==13.0.3.0 +nvidia-curand==10.4.0.35 +traitlets==5.15.1 +ipython_pygments_lexers==1.1.1 +nvidia-cufft==12.0.0.61 +nvidia-cublas==13.1.1.3 +nvidia-nccl-cu13==2.29.7 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +tqdm==4.68.4 +lxml==6.1.1 +GitPython==3.1.52 +idna==3.18 +executing==2.2.1 +shellingham==1.5.4 +nvidia-nvshmem-cu13==3.4.5 +parso==0.8.7 +toppra==0.6.3 +matplotlib==3.11.0 +annotated-types==0.7.0 +jedi==0.20.0 +opencv-python==5.0.0.93 +tyro==1.0.15 +PyYAML==6.0.3 +safetensors==0.8.0 +transforms3d==0.4.2 +pytorch-kinematics==0.7.6 +nvidia-cusolver==12.0.4.66 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--- /dev/null +++ b/rollouts/sd2_small_new_opendrawer_70_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=0.3400 success_count=17/50 mean_episode_length=1013.32 stage_drawer_opened=0.7600(38/50) stage_charger_picked=0.4200(21/50) stage_charger_placed=0.3400(17/50) stage_drawer_closed=0.3400(17/50) stage_drawer_opened_conditional=0.7600(38/50) stage_charger_picked_conditional=0.5526(21/38) stage_charger_placed_conditional=0.8095(17/21) stage_drawer_closed_conditional=1.0000(17/17) diff --git a/rollouts/sd2_small_new_opendrawer_70_flow_train/sd0_50_rollouts/wandb/run-20260630_133903-qpp3jbop/files/config.yaml b/rollouts/sd2_small_new_opendrawer_70_flow_train/sd0_50_rollouts/wandb/run-20260630_133903-qpp3jbop/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9e7228980b2289c53bd3cca4e0cab6ed48fbffce --- /dev/null +++ b/rollouts/sd2_small_new_opendrawer_70_flow_train/sd0_50_rollouts/wandb/run-20260630_133903-qpp3jbop/files/config.yaml @@ -0,0 +1,249 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + b6v69ympxiqq9hlsr3o65g6n60lzdkir: + 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/sd2_small_new_opendrawer_70_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd2_small_new_opendrawer_70_eval_sd0_50_rollouts + - -o + - wandb_project=new_opendrawer_dagger + 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: "777874870272" + 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/sd2_small_new_opendrawer_70_flow_train/sd0_50_rollouts + startedAt: "2026-06-30T20:39:03.333180Z" + writerId: b6v69ympxiqq9hlsr3o65g6n60lzdkir + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 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_70 + 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: 2 + 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/sd2_small_new_opendrawer_70_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_dagger + run_name: sd2_small_new_opendrawer_70 +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/sd2_small_new_opendrawer_70_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: 2 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd2_small_new_opendrawer_70_flow_train/sd0_50_rollouts/wandb/run-20260630_133903-qpp3jbop/files/output.log b/rollouts/sd2_small_new_opendrawer_70_flow_train/sd0_50_rollouts/wandb/run-20260630_133903-qpp3jbop/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..ff38fde0fce23c51acb628deedf7186c5ad3f986 --- /dev/null +++ b/rollouts/sd2_small_new_opendrawer_70_flow_train/sd0_50_rollouts/wandb/run-20260630_133903-qpp3jbop/files/output.log @@ -0,0 +1,288 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-30_13-39-04.log +====================================================================================== + +13:39:04 [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 +13:39:04 [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 : 0.529026 seconds +[INFO]: Scene manager: + 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 : 4.205125 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: 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: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: 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: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd2_small_new_opendrawer_70_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 [7] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[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 [1] +[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 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 [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2, 5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[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 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[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 [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened 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 [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up 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 [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[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 [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7, 8] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[ckpt_step_0100000] rollout 1/50: success=True steps=739 env=7 +[ckpt_step_0100000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=6 +[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=True steps=668 env=7 +[ckpt_step_0100000] rollout 12/50: success=True steps=622 env=0 +[ckpt_step_0100000] rollout 13/50: success=True steps=650 env=5 +[ckpt_step_0100000] rollout 14/50: success=True steps=678 env=8 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 21/50: success=True steps=614 env=5 +[ckpt_step_0100000] rollout 22/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 24/50: success=True steps=635 env=3 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 31/50: success=True steps=620 env=3 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 33/50: success=True steps=670 env=8 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 36/50: success=True steps=573 env=5 +[ckpt_step_0100000] rollout 37/50: success=True steps=719 env=2 +[ckpt_step_0100000] rollout 38/50: success=True steps=804 env=3 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 41/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 43/50: success=True steps=579 env=5 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 46/50: success=True steps=591 env=3 +[ckpt_step_0100000] rollout 47/50: success=True steps=767 env=2 +[ckpt_step_0100000] rollout 48/50: success=True steps=550 env=9 +[ckpt_step_0100000] rollout 49/50: success=True steps=587 env=5 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=0 diff --git a/rollouts/sd2_small_new_opendrawer_70_flow_train/sd0_50_rollouts/wandb/run-20260630_133903-qpp3jbop/files/requirements.txt b/rollouts/sd2_small_new_opendrawer_70_flow_train/sd0_50_rollouts/wandb/run-20260630_133903-qpp3jbop/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd2_small_new_opendrawer_70_flow_train/sd0_50_rollouts/wandb/run-20260630_133903-qpp3jbop/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 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 +gunicorn==23.0.0 +transformers==4.57.6 +omegaconf==2.3.0 +contourpy==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +azure-storage-blob==12.17.0 +ray==2.52.1 +tqdm==4.67.3 +PyYAML==6.0.2 +qdldl==0.1.7.post5 +gitdb==4.0.12 +qpsolvers==4.12.0 +wheel==0.47.0 +fastapi==0.115.7 +nvidia-cudnn-cu12==9.7.1.26 +sympy==1.14.0 +kiwisolver==1.4.4 +isaacsim-ros2==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.8.61 +aioboto3==15.1.0 +wandb==0.27.0 +numpy==1.26.4 +protobuf==7.35.0 +torchaudio==2.7.0 +nvidia-cufile-cu12==1.13.0.11 +certifi==2026.5.20 +attrs==25.1.0 +urllib3==2.7.0 +iniconfig==2.3.0 +cryptography==44.0.0 +isaacsim-replicator==5.1.0.0 +pytransform3d==3.15.0 +MarkupSafe==3.0.3 +opencv-python-headless==4.11.0.86 +setproctitle==1.3.7 +isaacsim-utils==5.1.0.0 +ptyprocess==0.7.0 +flatdict==4.1.0 +isaacsim-asset==5.1.0.0 +cffi==2.0.0 +skrl==2.1.0 +loop-rate-limiters==1.2.0 +nvidia-cublas-cu12==12.8.3.14 +GitPython==3.1.50 +Jinja2==3.1.6 +cmeel-urdfdom==3.1.1.1 +proglog==0.1.12 +isaaclab_rl==0.5.1 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