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rollouts/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts/results.json

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+{
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+}

rollouts/sd0_new_opendrawer_120_flow_dagger_p94_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=0.3800 success_count=19/50 mean_episode_length=1006.44 stage_drawer_opened=0.8200(41/50) stage_charger_picked=0.4000(20/50) stage_charger_placed=0.3800(19/50) stage_drawer_closed=0.3800(19/50) stage_drawer_opened_conditional=0.8200(41/50) stage_charger_picked_conditional=0.4878(20/41) stage_charger_placed_conditional=0.9500(19/20) stage_drawer_closed_conditional=1.0000(19/19)

rollouts/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts/wandb/run-20260730_222806-y6kf0uo8/files/config.yaml

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+                    - -o
+                    - horizon=1200
+                    - -o
+                    - seed=0
+                    - -o
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+                    - -o
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+                    - -o
+                    - output_name=sd0_50_rollouts
+                    - -o
+                    - wandb_run_name=sd0_new_opendrawer_120_flow_dagger_p94_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:
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+                        used: "995428507648"
+                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:
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+                      cudaCores: 21760
+                      memoryTotal: "34190917632"
+                      name: NVIDIA GeForce RTX 5090
+                      uuid: GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b
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+                program: /home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py
+                python: CPython 3.11.15
+                root: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts
+                startedAt: "2026-07-31T05:28:06.681668Z"
+                writerId: qw0amcxmazezw6vxso34i7dk0p1nquys
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+        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:
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+        cameras:
+            - left
+            - wrist
+        data_dir: /home/david/Document/dataset/new_opendrawer_120_flow_dagger_p94
+        loader:
+            batch_size: 128
+            num_workers: 8
+            prefetch_factor: 4
+        sampling:
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+            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:
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+            split_seed: 0
+            val_fraction: 0.02
+        task_filter:
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+            include_task_slugs: []
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+              future: 15
+              history: 0
+              key: actions
+              paths:
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+              shape:
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+              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:
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+              source_type: video
+logging:
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+        wandb:
+            enabled: true
+            entity: learn_from_failure_dwu
+            project: new_opendrawer_dagger
+            run_name: sd0_new_opendrawer_120_flow_dagger_p94
+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:
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+        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
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+        fusion_num_layers: 4
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+        kernel_size: 5
+        n_groups: 8
+        num_query_tokens: 2
+        pooled_dim: 64
+        raw_image_size: 256
+        time_embed_dim: 128
+        use_film_scale_modulation: true
+        vision_model_size: small
+processor:
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+            plate: 2
+        normalization_type: minmax
+        normalize_actions: true
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+            cylinder: 2
+        stats_cache_path: ""
+roboticsarmsim_eval:
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+        checkpoint_dir: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_120_flow_dagger_p94_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: 100000
+        seed: 0
+        weight_decay: 0.0001
+version:
+    value: 1

rollouts/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts/wandb/run-20260730_222806-y6kf0uo8/files/output.log

@@ -0,0 +1,294 @@
+[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_2026-07-30_22-28-07.log
+========================================================================================================
+
+22:28:07 [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
+22:28:08 [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 : 0.536726 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 10
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : ['/World/GroundPlane']
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 4.053508 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_all                  |
+|   1    | reset_cabinet_position     |
+|   2    | reset_charger_position     |
++--------+----------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++------------------------------------+
+|   Active Action Terms (shape: 7)   |
++-------+----------------+-----------+
+| Index | Name           | Dimension |
++-------+----------------+-----------+
+|   0   | arm_action     |         6 |
+|   1   | gripper_action |         1 |
++-------+----------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'policy' (shape: (39,)) |
++---------+----------------------------------------+---------+
+|  Index  | Name                                   |  Shape  |
++---------+----------------------------------------+---------+
+|    0    | joint_pos                              |   (9,)  |
+|    1    | joint_vel                              |   (9,)  |
+|    2    | cabinet_joint_pos                      |   (1,)  |
+|    3    | cabinet_joint_vel                      |   (1,)  |
+|    4    | charger_pos                            |   (3,)  |
+|    5    | rel_ee_drawer_distance                 |   (3,)  |
+|    6    | rel_ee_charger_distance                |   (3,)  |
+|    7    | rel_charger_drawer_distance            |   (3,)  |
+|    8    | previous_action                        |   (7,)  |
++---------+----------------------------------------+---------+
++-------------------------------------------+
+| Active Observation Terms in Group: 'pose' |
++---------+-----------------------+---------+
+|  Index  | Name                  |  Shape  |
++---------+-----------------------+---------+
+|    0    | ee_pose               |   (7,)  |
+|    1    | gripper_pose          |   (7,)  |
+|    2    | cabinet_pose          |   (7,)  |
+|    3    | left_table_pose       |   (7,)  |
+|    4    | charger_pose          |   (7,)  |
++---------+-----------------------+---------+
++--------------------------------------------------+
+| Active Observation Terms in Group: 'rgb_camera'  |
++----------+-----------------+---------------------+
+|  Index   | Name            |        Shape        |
++----------+-----------------+---------------------+
+|    0     | teleop_cam      |    (256, 256, 3)    |
+|    1     | left_cam        |    (256, 256, 3)    |
+|    2     | right_cam       |    (256, 256, 3)    |
+|    3     | wrist_cam       |    (256, 256, 3)    |
+|    4     | top_cam         |    (256, 256, 3)    |
++----------+-----------------+---------------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | success  |  False   |
+|   1   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 14 active terms.
++----------------------------------------------+
+|             Active Reward Terms              |
++-------+----------------------------+---------+
+| Index | Name                       |  Weight |
++-------+----------------------------+---------+
+|   0   | approach_ee_handle         |     2.0 |
+|   1   | align_ee_handle            |     0.5 |
+|   2   | approach_gripper_handle    |     5.0 |
+|   3   | align_grasp_around_handle  |   0.125 |
+|   4   | grasp_handle               |     0.5 |
+|   5   | open_drawer_bonus          |     7.5 |
+|   6   | multi_stage_open_drawer    |     1.0 |
+|   7   | approach_ee_charger        |     2.0 |
+|   8   | lift_charger               |     4.0 |
+|   9   | charger_to_drawer          |     6.0 |
+|   10  | charger_in_drawer          |     8.0 |
+|   11  | close_drawer_after_charger |    10.0 |
+|   12  | action_rate_l2             |   -0.01 |
+|   13  | joint_vel                  | -0.0001 |
++-------+----------------------------+---------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_120_flow_dagger_p94_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 [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 [3]
+[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 [1]
+[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 [1]
+[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 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 [7]
+[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 [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 3 charger placed in drawer success reached for envs [5]
+[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 [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 [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 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 [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 [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 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 [1]
+[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 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 [3]
+[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 3 charger placed in drawer 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 [1]
+[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 [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 4 drawer closed with charger inside 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 [5]
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+[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 [6]
+[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 2 charger picked up 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 [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 1 drawer opened success reached for envs [6]
+[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 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 [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 [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 [3]
+[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 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]
+[ckpt_step_0100000] rollout   1/50: success=True steps=637 env=2
+[ckpt_step_0100000] rollout   2/50: success=True steps=678 env=1
+[ckpt_step_0100000] rollout   3/50: success=True steps=1120 env=5
+[ckpt_step_0100000] rollout   4/50: success=False steps=1200 env=0
+[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=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=918 env=1
+[ckpt_step_0100000] rollout  12/50: success=True steps=491 env=5
+[ckpt_step_0100000] rollout  13/50: success=False steps=1200 env=2
+[ckpt_step_0100000] rollout  14/50: success=True steps=624 env=5
+[ckpt_step_0100000] rollout  15/50: success=False steps=1200 env=0
+[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=False steps=1200 env=9
+[ckpt_step_0100000] rollout  22/50: success=False steps=1200 env=1
+[ckpt_step_0100000] rollout  23/50: success=True steps=621 env=7
+[ckpt_step_0100000] rollout  24/50: success=False steps=1200 env=2
+[ckpt_step_0100000] rollout  25/50: success=True steps=750 env=3
+[ckpt_step_0100000] rollout  26/50: success=True steps=493 env=1
+[ckpt_step_0100000] rollout  27/50: success=False steps=1200 env=5
+[ckpt_step_0100000] rollout  28/50: success=False steps=1200 env=0
+[ckpt_step_0100000] rollout  29/50: success=False steps=1200 env=4
+[ckpt_step_0100000] rollout  30/50: success=False steps=1200 env=6
+[ckpt_step_0100000] rollout  31/50: success=False steps=1200 env=8
+[ckpt_step_0100000] rollout  32/50: success=False steps=1200 env=9
+[ckpt_step_0100000] rollout  33/50: success=True steps=637 env=3
+[ckpt_step_0100000] rollout  34/50: success=True steps=625 env=1
+[ckpt_step_0100000] rollout  35/50: success=True steps=636 env=5
+[ckpt_step_0100000] rollout  36/50: success=False steps=1200 env=7
+[ckpt_step_0100000] rollout  37/50: success=False steps=1200 env=2
+[ckpt_step_0100000] rollout  38/50: success=True steps=718 env=6
+[ckpt_step_0100000] rollout  39/50: success=True steps=692 env=3
+[ckpt_step_0100000] rollout  40/50: success=True steps=665 env=1
+[ckpt_step_0100000] rollout  41/50: success=False steps=1200 env=0
+[ckpt_step_0100000] rollout  42/50: success=False steps=1200 env=4
+[ckpt_step_0100000] rollout  43/50: success=False steps=1200 env=8
+[ckpt_step_0100000] rollout  44/50: success=False steps=1200 env=9
+[ckpt_step_0100000] rollout  45/50: success=True steps=585 env=7
+[ckpt_step_0100000] rollout  46/50: success=True steps=941 env=5
+[ckpt_step_0100000] rollout  47/50: success=True steps=649 env=3
+[ckpt_step_0100000] rollout  48/50: success=False steps=1200 env=2
+[ckpt_step_0100000] rollout  49/50: success=True steps=642 env=7
+[ckpt_step_0100000] rollout  50/50: success=False steps=1200 env=6

rollouts/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts/wandb/run-20260730_222806-y6kf0uo8/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
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+fsspec==2026.4.0
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+nvidia-curand-cu12==10.3.9.55
+zipp==4.1.0
+huggingface_hub==0.36.2
+importlib_metadata==9.0.0
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+      ]
+    }
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+}

rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/results.txt

@@ -0,0 +1,4 @@
+task=OpenDrawer-ManagerBased-v0
+num_checkpoints=1
+
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rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/wandb/run-20260812_084624-626pqo61/files/config.yaml

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+                    - -o
+                    - horizon=1200
+                    - -o
+                    - seed=0
+                    - -o
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+                    - -o
+                    - checkpoint_dir=/home/david/Document/robopolicy/runs/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/checkpoints
+                    - -o
+                    - output_name=sd0_50_rollouts
+                    - -o
+                    - wandb_run_name=sd0_new_opendrawer_220_vig_dagger_th3_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:
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+                        used: "929540587520"
+                email: chengenwu@berkeley.edu
+                executable: /home/david/Document/env_isaaclab/bin/python
+                git:
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+                    remote: git@github.com:YixiaoWang7/robopolicy.git
+                gpu: NVIDIA GeForce RTX 5090
+                gpu_count: 1
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+                      cudaCores: 21760
+                      memoryTotal: "34190917632"
+                      name: NVIDIA GeForce RTX 5090
+                      uuid: GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b
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+                program: /home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py
+                python: CPython 3.11.15
+                root: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts
+                startedAt: "2026-08-12T15:46:24.897153Z"
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+        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_220_vig_dagger_th3
+        loader:
+            batch_size: 128
+            num_workers: 8
+            prefetch_factor: 4
+        sampling:
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+            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:
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+            split_seed: 0
+            val_fraction: 0.02
+        task_filter:
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+            include_task_slugs: []
+feature:
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+        features:
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+              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:
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+        out_dir: runs/sd0_new_opendrawer_220_vig_dagger_th3_flow_train
+        wandb:
+            enabled: true
+            entity: learn_from_failure_dwu
+            project: new_opendrawer_dagger
+            run_name: sd0_new_opendrawer_220_vig_dagger_th3
+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:
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+            - 256
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+        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:
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+        container_to_idx:
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+            cup: 1
+            plate: 2
+        normalization_type: minmax
+        normalize_actions: true
+        normalize_states: true
+        obj_to_idx:
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+            cube: 1
+            cylinder: 2
+        stats_cache_path: ""
+roboticsarmsim_eval:
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+        actions_per_step: 8
+        checkpoint_dir: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_220_vig_dagger_th3_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:
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+            - 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:
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+            type: cosine
+            warmup_steps: 1000
+        num_data_warmup: 50
+        num_steps: 100000
+        save_every: 100000
+        seed: 0
+        weight_decay: 0.0001
+version:
+    value: 1

rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/wandb/run-20260812_084624-626pqo61/files/output.log

@@ -0,0 +1,370 @@
+[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_2026-08-12_08-46-25.log
+========================================================================================================
+
+08:46:25 [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
+08:46:26 [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 : 0.556225 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 10
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : ['/World/GroundPlane']
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 3.637183 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_all                  |
+|   1    | reset_cabinet_position     |
+|   2    | reset_charger_position     |
++--------+----------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++------------------------------------+
+|   Active Action Terms (shape: 7)   |
++-------+----------------+-----------+
+| Index | Name           | Dimension |
++-------+----------------+-----------+
+|   0   | arm_action     |         6 |
+|   1   | gripper_action |         1 |
++-------+----------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'policy' (shape: (39,)) |
++---------+----------------------------------------+---------+
+|  Index  | Name                                   |  Shape  |
++---------+----------------------------------------+---------+
+|    0    | joint_pos                              |   (9,)  |
+|    1    | joint_vel                              |   (9,)  |
+|    2    | cabinet_joint_pos                      |   (1,)  |
+|    3    | cabinet_joint_vel                      |   (1,)  |
+|    4    | charger_pos                            |   (3,)  |
+|    5    | rel_ee_drawer_distance                 |   (3,)  |
+|    6    | rel_ee_charger_distance                |   (3,)  |
+|    7    | rel_charger_drawer_distance            |   (3,)  |
+|    8    | previous_action                        |   (7,)  |
++---------+----------------------------------------+---------+
++-------------------------------------------+
+| Active Observation Terms in Group: 'pose' |
++---------+-----------------------+---------+
+|  Index  | Name                  |  Shape  |
++---------+-----------------------+---------+
+|    0    | ee_pose               |   (7,)  |
+|    1    | gripper_pose          |   (7,)  |
+|    2    | cabinet_pose          |   (7,)  |
+|    3    | left_table_pose       |   (7,)  |
+|    4    | charger_pose          |   (7,)  |
++---------+-----------------------+---------+
++--------------------------------------------------+
+| Active Observation Terms in Group: 'rgb_camera'  |
++----------+-----------------+---------------------+
+|  Index   | Name            |        Shape        |
++----------+-----------------+---------------------+
+|    0     | teleop_cam      |    (256, 256, 3)    |
+|    1     | left_cam        |    (256, 256, 3)    |
+|    2     | right_cam       |    (256, 256, 3)    |
+|    3     | wrist_cam       |    (256, 256, 3)    |
+|    4     | top_cam         |    (256, 256, 3)    |
++----------+-----------------+---------------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | success  |  False   |
+|   1   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 14 active terms.
++----------------------------------------------+
+|             Active Reward Terms              |
++-------+----------------------------+---------+
+| Index | Name                       |  Weight |
++-------+----------------------------+---------+
+|   0   | approach_ee_handle         |     2.0 |
+|   1   | align_ee_handle            |     0.5 |
+|   2   | approach_gripper_handle    |     5.0 |
+|   3   | align_grasp_around_handle  |   0.125 |
+|   4   | grasp_handle               |     0.5 |
+|   5   | open_drawer_bonus          |     7.5 |
+|   6   | multi_stage_open_drawer    |     1.0 |
+|   7   | approach_ee_charger        |     2.0 |
+|   8   | lift_charger               |     4.0 |
+|   9   | charger_to_drawer          |     6.0 |
+|   10  | charger_in_drawer          |     8.0 |
+|   11  | close_drawer_after_charger |    10.0 |
+|   12  | action_rate_l2             |   -0.01 |
+|   13  | joint_vel                  | -0.0001 |
++-------+----------------------------+---------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_220_vig_dagger_th3_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 [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 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 [3]
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+[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 [9]
+[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 3 charger placed in drawer 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 [5, 9]
+[OpenDrawer] stage 2 charger picked up success reached for envs [3]
+[OpenDrawer] stage 2 charger picked up success reached for envs [7]
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+[ckpt_step_0100000] rollout   1/50: success=True steps=511 env=4
+[ckpt_step_0100000] rollout   2/50: success=True steps=533 env=0
+[ckpt_step_0100000] rollout   3/50: success=True steps=596 env=9
+[ckpt_step_0100000] rollout   4/50: success=True steps=602 env=5
+[ckpt_step_0100000] rollout   5/50: success=True steps=624 env=6
+[ckpt_step_0100000] rollout   6/50: success=True steps=650 env=2
+[ckpt_step_0100000] rollout   7/50: success=True steps=728 env=1
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+[ckpt_step_0100000] rollout   9/50: success=True steps=740 env=3
+[ckpt_step_0100000] rollout  10/50: success=True steps=608 env=0
+[ckpt_step_0100000] rollout  11/50: success=True steps=545 env=5
+[ckpt_step_0100000] rollout  12/50: success=True steps=546 env=6
+[ckpt_step_0100000] rollout  13/50: success=True steps=580 env=9
+[ckpt_step_0100000] rollout  14/50: success=False steps=1200 env=8
+[ckpt_step_0100000] rollout  15/50: success=True steps=657 env=1
+[ckpt_step_0100000] rollout  16/50: success=True steps=753 env=2
+[ckpt_step_0100000] rollout  17/50: success=True steps=664 env=3
+[ckpt_step_0100000] rollout  18/50: success=True steps=684 env=7
+[ckpt_step_0100000] rollout  19/50: success=True steps=553 env=0
+[ckpt_step_0100000] rollout  20/50: success=False steps=1200 env=4
+[ckpt_step_0100000] rollout  21/50: success=True steps=578 env=9
+[ckpt_step_0100000] rollout  22/50: success=True steps=612 env=8
+[ckpt_step_0100000] rollout  23/50: success=True steps=678 env=5
+[ckpt_step_0100000] rollout  24/50: success=True steps=486 env=1
+[ckpt_step_0100000] rollout  25/50: success=True steps=570 env=2
+[ckpt_step_0100000] rollout  26/50: success=True steps=666 env=3
+[ckpt_step_0100000] rollout  27/50: success=True steps=598 env=4
+[ckpt_step_0100000] rollout  28/50: success=False steps=1200 env=6
+[ckpt_step_0100000] rollout  29/50: success=True steps=572 env=1
+[ckpt_step_0100000] rollout  30/50: success=True steps=670 env=5
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+[ckpt_step_0100000] rollout  43/50: success=False steps=1200 env=1
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+[ckpt_step_0100000] rollout  47/50: success=True steps=498 env=2
+[ckpt_step_0100000] rollout  48/50: success=True steps=632 env=0
+[ckpt_step_0100000] rollout  49/50: success=False steps=1200 env=6
+[ckpt_step_0100000] rollout  50/50: success=True steps=545 env=4

rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/wandb/run-20260812_084624-626pqo61/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
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rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/results.json

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+          "video_dir": "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0050_partial",
+          "videos": [
+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0050_partial/left.mp4",
+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0050_partial/wrist.mp4"
+          ]
+        },
+        {
+          "rollout_idx": 51,
+          "env_id": 1,
+          "video_dir": "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0051_partial",
+          "videos": [
+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0051_partial/left.mp4",
+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0051_partial/wrist.mp4"
+          ]
+        },
+        {
+          "rollout_idx": 52,
+          "env_id": 2,
+          "video_dir": "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0052_partial",
+          "videos": [
+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0052_partial/left.mp4",
+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0052_partial/wrist.mp4"
+          ]
+        },
+        {
+          "rollout_idx": 53,
+          "env_id": 4,
+          "video_dir": "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0053_partial",
+          "videos": [
+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0053_partial/left.mp4",
+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0053_partial/wrist.mp4"
+          ]
+        },
+        {
+          "rollout_idx": 54,
+          "env_id": 5,
+          "video_dir": "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0054_partial",
+          "videos": [
+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0054_partial/left.mp4",
+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0054_partial/wrist.mp4"
+          ]
+        },
+        {
+          "rollout_idx": 55,
+          "env_id": 6,
+          "video_dir": "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0055_partial",
+          "videos": [
+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0055_partial/left.mp4",
+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0055_partial/wrist.mp4"
+          ]
+        }
+      ]
+    }
+  ]
+}

rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_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=0.1600 success_count=8/50 mean_episode_length=1136.54 stage_drawer_opened=0.7800(39/50) stage_charger_picked=0.2600(13/50) stage_charger_placed=0.1800(9/50) stage_drawer_closed=0.1600(8/50) stage_drawer_opened_conditional=0.7800(39/50) stage_charger_picked_conditional=0.3333(13/39) stage_charger_placed_conditional=0.6923(9/13) stage_drawer_closed_conditional=0.8889(8/9)

rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_030338-o15ahucc/files/config.yaml

@@ -0,0 +1,261 @@
+_wandb:
+    value:
+        cli_version: 0.27.0
+        e:
+            f592hrcjm5hdj58fddk7y262p9g12s6w:
+                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_vig_dagger_th3_ema2_flow_train/checkpoints
+                    - -o
+                    - output_name=sd0_50_rollouts
+                    - -o
+                    - wandb_run_name=sd0_new_opendrawer_30_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: "974823460864"
+                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/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts
+                startedAt: "2026-07-14T10:03:38.088469Z"
+                writerId: f592hrcjm5hdj58fddk7y262p9g12s6w
+        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_ema2_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_vig_dagger_th3_ema2_flow_train
+        wandb:
+            enabled: true
+            entity: learn_from_failure_dwu
+            project: new_opendrawer_dagger
+            run_name: sd0_new_opendrawer_30_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/sd0_new_opendrawer_30_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: 0
+        weight_decay: 0.0001
+version:
+    value: 1

rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_030338-o15ahucc/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: /home/david/.cache/tmp/isaaclab/logs/isaaclab_2026-07-14_03-03-39.log
+========================================================================================================
+
+03:03:39 [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
+03:03:39 [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 : 0.538315 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 10
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : ['/World/GroundPlane']
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 4.210997 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_all                  |
+|   1    | reset_cabinet_position     |
+|   2    | reset_charger_position     |
++--------+----------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++------------------------------------+
+|   Active Action Terms (shape: 7)   |
++-------+----------------+-----------+
+| Index | Name           | Dimension |
++-------+----------------+-----------+
+|   0   | arm_action     |         6 |
+|   1   | gripper_action |         1 |
++-------+----------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'policy' (shape: (39,)) |
++---------+----------------------------------------+---------+
+|  Index  | Name                                   |  Shape  |
++---------+----------------------------------------+---------+
+|    0    | joint_pos                              |   (9,)  |
+|    1    | joint_vel                              |   (9,)  |
+|    2    | cabinet_joint_pos                      |   (1,)  |
+|    3    | cabinet_joint_vel                      |   (1,)  |
+|    4    | charger_pos                            |   (3,)  |
+|    5    | rel_ee_drawer_distance                 |   (3,)  |
+|    6    | rel_ee_charger_distance                |   (3,)  |
+|    7    | rel_charger_drawer_distance            |   (3,)  |
+|    8    | previous_action                        |   (7,)  |
++---------+----------------------------------------+---------+
++-------------------------------------------+
+| Active Observation Terms in Group: 'pose' |
++---------+-----------------------+---------+
+|  Index  | Name                  |  Shape  |
++---------+-----------------------+---------+
+|    0    | ee_pose               |   (7,)  |
+|    1    | gripper_pose          |   (7,)  |
+|    2    | cabinet_pose          |   (7,)  |
+|    3    | left_table_pose       |   (7,)  |
+|    4    | charger_pose          |   (7,)  |
++---------+-----------------------+---------+
++--------------------------------------------------+
+| Active Observation Terms in Group: 'rgb_camera'  |
++----------+-----------------+---------------------+
+|  Index   | Name            |        Shape        |
++----------+-----------------+---------------------+
+|    0     | teleop_cam      |    (256, 256, 3)    |
+|    1     | left_cam        |    (256, 256, 3)    |
+|    2     | right_cam       |    (256, 256, 3)    |
+|    3     | wrist_cam       |    (256, 256, 3)    |
+|    4     | top_cam         |    (256, 256, 3)    |
++----------+-----------------+---------------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | success  |  False   |
+|   1   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 14 active terms.
++----------------------------------------------+
+|             Active Reward Terms              |
++-------+----------------------------+---------+
+| Index | Name                       |  Weight |
++-------+----------------------------+---------+
+|   0   | approach_ee_handle         |     2.0 |
+|   1   | align_ee_handle            |     0.5 |
+|   2   | approach_gripper_handle    |     5.0 |
+|   3   | align_grasp_around_handle  |   0.125 |
+|   4   | grasp_handle               |     0.5 |
+|   5   | open_drawer_bonus          |     7.5 |
+|   6   | multi_stage_open_drawer    |     1.0 |
+|   7   | approach_ee_charger        |     2.0 |
+|   8   | lift_charger               |     4.0 |
+|   9   | charger_to_drawer          |     6.0 |
+|   10  | charger_in_drawer          |     8.0 |
+|   11  | close_drawer_after_charger |    10.0 |
+|   12  | action_rate_l2             |   -0.01 |
+|   13  | joint_vel                  | -0.0001 |
++-------+----------------------------+---------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_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 [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 [9]
+[OpenDrawer] stage 1 drawer opened success reached for envs [2, 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 [1]
+[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 [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 [2]
+[OpenDrawer] stage 2 charger picked up 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 [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 [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 [0]
+[OpenDrawer] stage 1 drawer opened 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 [1]
+[OpenDrawer] stage 2 charger picked up 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 [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 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 [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 1 drawer opened 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 [6]
+[OpenDrawer] stage 1 drawer opened success reached for envs [2]
+[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 [9]
+[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 1 drawer opened success reached for envs [8]
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rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_030338-o15ahucc/files/requirements.txt

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rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_030338-o15ahucc/logs/debug.log

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+config: {'version': 1, 'feature': {'features': ({'key': 'actions', 'shape': (7,), 'source_type': 'hdf5', 'paths': ('actions',), 'camera_names': (), 'history': 0, 'future': 15}, {'key': 'state', 'shape': (9,), 'source_type': 'hdf5', 'paths': ('obs/robot0_eef_pos', 'obs/robot0_eef_quat', 'obs/robot0_gripper_qpos'), 'camera_names': (), 'history': 0, 'future': 0}, {'key': 'images', 'shape': (3, 256, 256), 'source_type': 'video', 'paths': (), 'camera_names': ('left', 'wrist'), 'history': 0, 'future': 0})}, 'dataset': {'data_dir': '/home/david/Document/dataset/new_opendrawer_30_vig_dagger_th3_ema2_split_sd0', 'cameras': ('left', 'wrist'), 'task_filter': {'include_task_slugs': (), 'exclude_task_slugs': ()}, 'split': {'val_fraction': 0.02, 'split_seed': 0, 'min_val_demos': 2}, 'sampling': {'k_passes': 8, 'active_window_shards': 20, 'locality_block_size': 64, 'predecode_next_block': True, 'frame_cache_max_entries': 12000, 'profile_timing': False, 'profile_every_samples': 500, 'log_stall_ms': 0.0}, 'loader': {'batch_size': 128, 'num_workers': 8, 'prefetch_factor': 4}}, 'processor': {'normalization_type': 'minmax', 'normalize_actions': True, 'normalize_states': True, 'stats_cache_path': '', 'add_task_indices': True, 'obj_to_idx': {'cross': 0, 'cube': 1, 'cylinder': 2}, 'container_to_idx': {'bin': 0, 'cup': 1, 'plate': 2}}, 'model': {'raw_image_size': 256, 'crop_size': 224, 'crop': True, 'crop_is_random': True, 'image_size': 224, 'vision_model_size': 'small', 'freeze_vision_backbone': True, 'pooled_dim': 64, 'fusion_num_layers': 4, 'fusion_num_heads': 8, 'fusion_ff_dim': 256, 'fusion_dropout': 0.1, 'fusion_mask_type': 'none', 'camera_feature_combine': 'concat', 'num_query_tokens': 2, 'down_dims': (128, 256, 512), 'time_embed_dim': 128, 'kernel_size': 5, 'n_groups': 8, 'use_film_scale_modulation': True, 'bc_mlp_hidden_dims': (512, 512), 'env_num_entities': 6, 'env_entity_dim': 7, 'env_token_embed_dim': 256, 'env_state_mode': 'attention_pool', 'direct_select_use_task_emb': True}, 'algo': {'path_type': 'linear', 'scheduler_type': 'uniform', 'solver_type': 'euler', 'num_inference_steps': 10, 'guidance_scale': 1.0, 'sigma_min': 0.0001, 'sigma_schedule': 'constant', 'ot_reg': 0.05, 'time_eps': 0.0, 't_max': 0.999, 'logit_normal_loc': 0.0, 'logit_normal_scale': 1.0, 'dense_jump_density': 2.0, 'beta_alpha': 1.5, 'beta_beta': 1.0}, 'train': {'device': '', 'seed': 0, 'lr': 0.0001, 'weight_decay': 0.0001, 'amp': False, 'grad_clip_norm': 1.0, 'num_steps': 100000, 'num_data_warmup': 50, 'log_every': 500, 'eval_every': 500, 'eval_num_batches': 10, 'eval_best_of_k': 4, 'save_every': 10000, 'lr_schedule': {'type': 'cosine', 'warmup_steps': 1000, 'min_lr_ratio': 0.0001}}, 'logging': {'out_dir': 'runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train', 'wandb': {'enabled': True, 'project': 'new_opendrawer_dagger', 'entity': 'learn_from_failure_dwu', 'run_name': 'sd0_new_opendrawer_30_vig_dagger_th3_ema2'}}, 'roboticsarmsim_eval': {'checkpoint_dir': '/home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_vig_dagger_th3_ema2_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': 8, 'vig_decision_cadence': 'chunk', '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': {}}
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+2026-07-14 03:18:17,938 INFO    MainThread:3766289 [wandb_run.py:_finish():2271] finishing run learn_from_failure_dwu/new_opendrawer_dagger/o15ahucc
+2026-07-14 03:18:17,938 INFO    MainThread:3766289 [wandb_run.py:_atexit_cleanup():2476] got exitcode: 0
+2026-07-14 03:18:17,939 INFO    MainThread:3766289 [wandb_run.py:_restore():2458] restore
+2026-07-14 03:18:17,939 INFO    MainThread:3766289 [wandb_run.py:_restore():2464] restore done
+2026-07-14 03:18:18,696 INFO    MainThread:3766289 [wandb_run.py:_footer_sync_info():3877] logging synced files

rollouts/sd0_new_opendrawer_45_stage_4_25_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=0.0800 success_count=4/50 mean_episode_length=1173.32 stage_drawer_opened=0.6800(34/50) 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=0.6800(34/50) stage_charger_picked_conditional=0.2647(9/34) stage_charger_placed_conditional=0.6667(6/9) stage_drawer_closed_conditional=0.6667(4/6)
+ckpt_step_0020000: step=20000 success_rate=0.1000 success_count=5/50 mean_episode_length=1160.30 stage_drawer_opened=0.5200(26/50) stage_charger_picked=0.1600(8/50) stage_charger_placed=0.1400(7/50) stage_drawer_closed=0.1000(5/50) stage_drawer_opened_conditional=0.5200(26/50) stage_charger_picked_conditional=0.3077(8/26) stage_charger_placed_conditional=0.8750(7/8) stage_drawer_closed_conditional=0.7143(5/7)
+ckpt_step_0030000: step=30000 success_rate=0.1400 success_count=7/50 mean_episode_length=1142.94 stage_drawer_opened=0.8400(42/50) stage_charger_picked=0.1600(8/50) stage_charger_placed=0.1400(7/50) stage_drawer_closed=0.1400(7/50) stage_drawer_opened_conditional=0.8400(42/50) stage_charger_picked_conditional=0.1905(8/42) stage_charger_placed_conditional=0.8750(7/8) stage_drawer_closed_conditional=1.0000(7/7)
+ckpt_step_0040000: step=40000 success_rate=0.1600 success_count=8/50 mean_episode_length=1116.96 stage_drawer_opened=0.7600(38/50) stage_charger_picked=0.1800(9/50) stage_charger_placed=0.1800(9/50) stage_drawer_closed=0.1600(8/50) stage_drawer_opened_conditional=0.7600(38/50) stage_charger_picked_conditional=0.2368(9/38) stage_charger_placed_conditional=1.0000(9/9) stage_drawer_closed_conditional=0.8889(8/9)
+ckpt_step_0050000: step=50000 success_rate=0.4400 success_count=22/50 mean_episode_length=1033.48 stage_drawer_opened=0.9000(45/50) stage_charger_picked=0.5200(26/50) stage_charger_placed=0.5000(25/50) stage_drawer_closed=0.4400(22/50) stage_drawer_opened_conditional=0.9000(45/50) stage_charger_picked_conditional=0.5778(26/45) stage_charger_placed_conditional=0.9615(25/26) stage_drawer_closed_conditional=0.8800(22/25)
+ckpt_step_0060000: step=60000 success_rate=0.2600 success_count=13/50 mean_episode_length=1085.62 stage_drawer_opened=0.8200(41/50) stage_charger_picked=0.3200(16/50) 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=0.3902(16/41) stage_charger_placed_conditional=0.8125(13/16) stage_drawer_closed_conditional=1.0000(13/13)
+ckpt_step_0070000: step=70000 success_rate=0.2800 success_count=14/50 mean_episode_length=1085.52 stage_drawer_opened=0.8600(43/50) 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=0.8600(43/50) stage_charger_picked_conditional=0.3953(17/43) stage_charger_placed_conditional=0.9412(16/17) stage_drawer_closed_conditional=0.8750(14/16)
+ckpt_step_0080000: step=80000 success_rate=0.2600 success_count=13/50 mean_episode_length=1082.00 stage_drawer_opened=0.7400(37/50) stage_charger_picked=0.3000(15/50) stage_charger_placed=0.2800(14/50) stage_drawer_closed=0.2600(13/50) stage_drawer_opened_conditional=0.7400(37/50) stage_charger_picked_conditional=0.4054(15/37) stage_charger_placed_conditional=0.9333(14/15) stage_drawer_closed_conditional=0.9286(13/14)
+ckpt_step_0090000: step=90000 success_rate=0.3200 success_count=16/50 mean_episode_length=1041.86 stage_drawer_opened=0.7800(39/50) stage_charger_picked=0.3600(18/50) stage_charger_placed=0.3600(18/50) stage_drawer_closed=0.3200(16/50) stage_drawer_opened_conditional=0.7800(39/50) stage_charger_picked_conditional=0.4615(18/39) stage_charger_placed_conditional=1.0000(18/18) stage_drawer_closed_conditional=0.8889(16/18)
+ckpt_final: step=100000 success_rate=0.2800 success_count=14/50 mean_episode_length=1070.18 stage_drawer_opened=0.7800(39/50) stage_charger_picked=0.3400(17/50) stage_charger_placed=0.3000(15/50) stage_drawer_closed=0.2800(14/50) stage_drawer_opened_conditional=0.7800(39/50) stage_charger_picked_conditional=0.4359(17/39) stage_charger_placed_conditional=0.8824(15/17) stage_drawer_closed_conditional=0.9333(14/15)
+ckpt_step_0100000: step=100000 success_rate=0.1800 success_count=9/50 mean_episode_length=1108.12 stage_drawer_opened=0.8600(43/50) stage_charger_picked=0.3400(17/50) stage_charger_placed=0.2600(13/50) stage_drawer_closed=0.1800(9/50) stage_drawer_opened_conditional=0.8600(43/50) stage_charger_picked_conditional=0.3953(17/43) stage_charger_placed_conditional=0.7647(13/17) stage_drawer_closed_conditional=0.6923(9/13)

rollouts/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260624_161042-xcbq0oon/files/config.yaml

@@ -0,0 +1,247 @@
+_wandb:
+    value:
+        cli_version: 0.27.0
+        e:
+            fwffq2m6l7lnkak9otliw0wenafgr4fy:
+                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_stage_4_25_vig_cut_thd_3_mg_5_flow_train/checkpoints
+                    - -o
+                    - output_name=sd0_50_rollouts
+                    - -o
+                    - wandb_run_name=sd0_new_opendrawer_45_stage_4_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: "654973128704"
+                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_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts
+                startedAt: "2026-06-24T23:10:42.474313Z"
+                writerId: fwffq2m6l7lnkak9otliw0wenafgr4fy
+        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_4_25_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_45_stage_4_25_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_45_stage_4_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/sd0_new_opendrawer_45_stage_4_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: 0
+        weight_decay: 0.0001
+version:
+    value: 1

rollouts/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260624_161042-xcbq0oon/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
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rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/results.json

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+          ]
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+            "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/videos/ckpt_step_0100000/rollout_0055_partial/wrist.mp4"
+          ]
+        }
+      ]
+    }
+  ]
+}

rollouts/sd0_new_opendrawer_45_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=0.1200 success_count=6/50 mean_episode_length=1163.46 stage_drawer_opened=0.8200(41/50) stage_charger_picked=0.1400(7/50) stage_charger_placed=0.1200(6/50) stage_drawer_closed=0.1200(6/50) stage_drawer_opened_conditional=0.8200(41/50) stage_charger_picked_conditional=0.1707(7/41) stage_charger_placed_conditional=0.8571(6/7) stage_drawer_closed_conditional=1.0000(6/6)

rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_122216-nfw5j147/files/config.yaml

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+_wandb:
+    value:
+        cli_version: 0.27.0
+        e:
+            kp4vgx1zwgumucv6auhd08amck0jacd3:
+                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_ema8_flow_train/checkpoints
+                    - -o
+                    - output_name=sd0_50_rollouts
+                    - -o
+                    - wandb_run_name=sd0_new_opendrawer_45_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: "947880521728"
+                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_ema8_flow_train/sd0_50_rollouts
+                startedAt: "2026-07-19T19:22:16.549008Z"
+                writerId: kp4vgx1zwgumucv6auhd08amck0jacd3
+        m: []
+        python_version: 3.11.15
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+            "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_ema8_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_ema8_flow_train
+        wandb:
+            enabled: true
+            entity: learn_from_failure_dwu
+            project: new_opendrawer_dagger
+            run_name: sd0_new_opendrawer_45_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/sd0_new_opendrawer_45_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: 0
+        weight_decay: 0.0001
+version:
+    value: 1

rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_122216-nfw5j147/files/output.log

@@ -0,0 +1,258 @@
+[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_12-22-17.log
+========================================================================================================
+
+12:22:17 [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
+12:22:17 [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 : 0.532313 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 10
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : ['/World/GroundPlane']
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 4.224335 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_all                  |
+|   1    | reset_cabinet_position     |
+|   2    | reset_charger_position     |
++--------+----------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++------------------------------------+
+|   Active Action Terms (shape: 7)   |
++-------+----------------+-----------+
+| Index | Name           | Dimension |
++-------+----------------+-----------+
+|   0   | arm_action     |         6 |
+|   1   | gripper_action |         1 |
++-------+----------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'policy' (shape: (39,)) |
++---------+----------------------------------------+---------+
+|  Index  | Name                                   |  Shape  |
++---------+----------------------------------------+---------+
+|    0    | joint_pos                              |   (9,)  |
+|    1    | joint_vel                              |   (9,)  |
+|    2    | cabinet_joint_pos                      |   (1,)  |
+|    3    | cabinet_joint_vel                      |   (1,)  |
+|    4    | charger_pos                            |   (3,)  |
+|    5    | rel_ee_drawer_distance                 |   (3,)  |
+|    6    | rel_ee_charger_distance                |   (3,)  |
+|    7    | rel_charger_drawer_distance            |   (3,)  |
+|    8    | previous_action                        |   (7,)  |
++---------+----------------------------------------+---------+
++-------------------------------------------+
+| Active Observation Terms in Group: 'pose' |
++---------+-----------------------+---------+
+|  Index  | Name                  |  Shape  |
++---------+-----------------------+---------+
+|    0    | ee_pose               |   (7,)  |
+|    1    | gripper_pose          |   (7,)  |
+|    2    | cabinet_pose          |   (7,)  |
+|    3    | left_table_pose       |   (7,)  |
+|    4    | charger_pose          |   (7,)  |
++---------+-----------------------+---------+
++--------------------------------------------------+
+| Active Observation Terms in Group: 'rgb_camera'  |
++----------+-----------------+---------------------+
+|  Index   | Name            |        Shape        |
++----------+-----------------+---------------------+
+|    0     | teleop_cam      |    (256, 256, 3)    |
+|    1     | left_cam        |    (256, 256, 3)    |
+|    2     | right_cam       |    (256, 256, 3)    |
+|    3     | wrist_cam       |    (256, 256, 3)    |
+|    4     | top_cam         |    (256, 256, 3)    |
++----------+-----------------+---------------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | success  |  False   |
+|   1   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 14 active terms.
++----------------------------------------------+
+|             Active Reward Terms              |
++-------+----------------------------+---------+
+| Index | Name                       |  Weight |
++-------+----------------------------+---------+
+|   0   | approach_ee_handle         |     2.0 |
+|   1   | align_ee_handle            |     0.5 |
+|   2   | approach_gripper_handle    |     5.0 |
+|   3   | align_grasp_around_handle  |   0.125 |
+|   4   | grasp_handle               |     0.5 |
+|   5   | open_drawer_bonus          |     7.5 |
+|   6   | multi_stage_open_drawer    |     1.0 |
+|   7   | approach_ee_charger        |     2.0 |
+|   8   | lift_charger               |     4.0 |
+|   9   | charger_to_drawer          |     6.0 |
+|   10  | charger_in_drawer          |     8.0 |
+|   11  | close_drawer_after_charger |    10.0 |
+|   12  | action_rate_l2             |   -0.01 |
+|   13  | joint_vel                  | -0.0001 |
++-------+----------------------------+---------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_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 [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 [8]
+[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 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 [5]
+[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 [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 [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 [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 [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 [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 [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 [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 [6]
+[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 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 [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 [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 [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 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 [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 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 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 [8]
+[OpenDrawer] stage 1 drawer opened success reached for envs [9]
+[OpenDrawer] stage 1 drawer opened success reached for envs [2]
+[ckpt_step_0100000] rollout   1/50: success=True steps=702 env=3
+[ckpt_step_0100000] rollout   2/50: success=True steps=1083 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=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=3
+[ckpt_step_0100000] rollout  12/50: success=False steps=1200 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=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=3
+[ckpt_step_0100000] rollout  22/50: success=False steps=1200 env=2
+[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=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=3
+[ckpt_step_0100000] rollout  32/50: success=True steps=719 env=7
+[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=1
+[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=False steps=1200 env=3
+[ckpt_step_0100000] rollout  42/50: success=False steps=1200 env=7
+[ckpt_step_0100000] rollout  43/50: success=True steps=753 env=8
+[ckpt_step_0100000] rollout  44/50: success=True steps=1011 env=9
+[ckpt_step_0100000] rollout  45/50: success=False steps=1200 env=2
+[ckpt_step_0100000] rollout  46/50: success=True steps=1105 env=6
+[ckpt_step_0100000] rollout  47/50: success=False steps=1200 env=0
+[ckpt_step_0100000] rollout  48/50: success=False steps=1200 env=1
+[ckpt_step_0100000] rollout  49/50: success=False steps=1200 env=4
+[ckpt_step_0100000] rollout  50/50: success=False steps=1200 env=5

rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_122216-nfw5j147/files/requirements.txt

@@ -0,0 +1,262 @@
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+psutil==5.9.8
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+coverage==7.4.4
+jsonschema-specifications==2025.9.1
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+nvidia-cusolver-cu12==11.7.2.55
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+qrcode==7.4.2
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rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_122216-nfw5j147/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": "2026-07-19T19:22:16.549008Z",
+  "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_ema8_flow_train/checkpoints",
+    "-o",
+    "output_name=sd0_50_rollouts",
+    "-o",
+    "wandb_run_name=sd0_new_opendrawer_45_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/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts",
+  "host": "yixiao-G914",
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rollouts/sd1_new_opendrawer_120_flow_train/sd1_50_rollouts/results.json

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rollouts/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/results.json

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+          "videos": [
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+          ]
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+          "videos": [
+            "/home/david/Document/robopolicy/runs/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/videos/ckpt_step_0100000/rollout_0058_partial/left.mp4",
+            "/home/david/Document/robopolicy/runs/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/videos/ckpt_step_0100000/rollout_0058_partial/wrist.mp4"
+          ]
+        }
+      ]
+    }
+  ]
+}

rollouts/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/results.txt

@@ -0,0 +1,4 @@
+task=OpenDrawer-ManagerBased-v0
+num_checkpoints=1
+
+ckpt_step_0100000: step=100000 success_rate=0.6400 success_count=32/50 mean_episode_length=850.04 stage_drawer_opened=0.9000(45/50) stage_charger_picked=0.7200(36/50) stage_charger_placed=0.7000(35/50) stage_drawer_closed=0.6400(32/50) stage_drawer_opened_conditional=0.9000(45/50) stage_charger_picked_conditional=0.8000(36/45) stage_charger_placed_conditional=0.9722(35/36) stage_drawer_closed_conditional=0.9143(32/35)

rollouts/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_003212-1x3mzda7/files/config.yaml

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+_wandb:
+    value:
+        cli_version: 0.27.0
+        e:
+            aoj3xnqryixgeiy60s6htyyoovfgwd1w:
+                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_120_vig_dagger_th3_flow_train/checkpoints
+                    - -o
+                    - output_name=sd1_50_rollouts
+                    - -o
+                    - wandb_run_name=sd1_new_opendrawer_120_vig_dagger_th3_eval_sd1_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: "927745576960"
+                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: "65677324288"
+                os: Linux-7.0.0-28-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_120_vig_dagger_th3_flow_train/sd1_50_rollouts
+                startedAt: "2026-08-12T07:32:12.143267Z"
+                writerId: aoj3xnqryixgeiy60s6htyyoovfgwd1w
+        m: []
+        python_version: 3.11.15
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+                - 41
+                - 49
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+                - 11
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+            "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_120_vig_dagger_th3
+        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_120_vig_dagger_th3_flow_train
+        wandb:
+            enabled: true
+            entity: learn_from_failure_dwu
+            project: new_opendrawer_dagger
+            run_name: sd1_new_opendrawer_120_vig_dagger_th3
+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_120_vig_dagger_th3_flow_train/checkpoints
+        disable_fabric: false
+        env_spacing: 10
+        horizon: 1200
+        num_envs: 10
+        num_rollouts: 50
+        output_name: sd1_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: 100000
+        seed: 1
+        weight_decay: 0.0001
+version:
+    value: 1

rollouts/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_003212-1x3mzda7/files/output.log

@@ -0,0 +1,350 @@
+[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_2026-08-12_00-32-12.log
+========================================================================================================
+
+00:32:13 [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
+00:32:13 [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 : 0.530646 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 10
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : ['/World/GroundPlane']
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 3.621526 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++--------+----------------------------+
+| Index  | Name                       |
++--------+----------------------------+
+|   0    | reset_all                  |
+|   1    | reset_cabinet_position     |
+|   2    | reset_charger_position     |
++--------+----------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++------------------------------------+
+|   Active Action Terms (shape: 7)   |
++-------+----------------+-----------+
+| Index | Name           | Dimension |
++-------+----------------+-----------+
+|   0   | arm_action     |         6 |
+|   1   | gripper_action |         1 |
++-------+----------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++------------------------------------------------------------+
+| Active Observation Terms in Group: 'policy' (shape: (39,)) |
++---------+----------------------------------------+---------+
+|  Index  | Name                                   |  Shape  |
++---------+----------------------------------------+---------+
+|    0    | joint_pos                              |   (9,)  |
+|    1    | joint_vel                              |   (9,)  |
+|    2    | cabinet_joint_pos                      |   (1,)  |
+|    3    | cabinet_joint_vel                      |   (1,)  |
+|    4    | charger_pos                            |   (3,)  |
+|    5    | rel_ee_drawer_distance                 |   (3,)  |
+|    6    | rel_ee_charger_distance                |   (3,)  |
+|    7    | rel_charger_drawer_distance            |   (3,)  |
+|    8    | previous_action                        |   (7,)  |
++---------+----------------------------------------+---------+
++-------------------------------------------+
+| Active Observation Terms in Group: 'pose' |
++---------+-----------------------+---------+
+|  Index  | Name                  |  Shape  |
++---------+-----------------------+---------+
+|    0    | ee_pose               |   (7,)  |
+|    1    | gripper_pose          |   (7,)  |
+|    2    | cabinet_pose          |   (7,)  |
+|    3    | left_table_pose       |   (7,)  |
+|    4    | charger_pose          |   (7,)  |
++---------+-----------------------+---------+
++--------------------------------------------------+
+| Active Observation Terms in Group: 'rgb_camera'  |
++----------+-----------------+---------------------+
+|  Index   | Name            |        Shape        |
++----------+-----------------+---------------------+
+|    0     | teleop_cam      |    (256, 256, 3)    |
+|    1     | left_cam        |    (256, 256, 3)    |
+|    2     | right_cam       |    (256, 256, 3)    |
+|    3     | wrist_cam       |    (256, 256, 3)    |
+|    4     | top_cam         |    (256, 256, 3)    |
++----------+-----------------+---------------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | success  |  False   |
+|   1   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 14 active terms.
++----------------------------------------------+
+|             Active Reward Terms              |
++-------+----------------------------+---------+
+| Index | Name                       |  Weight |
++-------+----------------------------+---------+
+|   0   | approach_ee_handle         |     2.0 |
+|   1   | align_ee_handle            |     0.5 |
+|   2   | approach_gripper_handle    |     5.0 |
+|   3   | align_grasp_around_handle  |   0.125 |
+|   4   | grasp_handle               |     0.5 |
+|   5   | open_drawer_bonus          |     7.5 |
+|   6   | multi_stage_open_drawer    |     1.0 |
+|   7   | approach_ee_charger        |     2.0 |
+|   8   | lift_charger               |     4.0 |
+|   9   | charger_to_drawer          |     6.0 |
+|   10  | charger_in_drawer          |     8.0 |
+|   11  | close_drawer_after_charger |    10.0 |
+|   12  | action_rate_l2             |   -0.01 |
+|   13  | joint_vel                  | -0.0001 |
++-------+----------------------------+---------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd1_new_opendrawer_120_vig_dagger_th3_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 [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 [8]
+[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 [4]
+[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 [6]
+[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 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 [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 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 [2]
+[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 [2]
+[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 [5]
+[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 [7]
+[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 [4]
+[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 [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 [5]
+[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 [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 [1]
+[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 [9]
+[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 [4]
+[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 [4]
+[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 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 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 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 [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 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 [9]
+[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 [5]
+[OpenDrawer] stage 2 charger picked up 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 [0]
+[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 [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 [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 [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 [2]
+[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 [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, 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 [2]
+[OpenDrawer] stage 4 drawer closed with charger inside 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 [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 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 [6]
+[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 [9]
+[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 [6]
+[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 [6]
+[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 [7]
+[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 [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 [3]
+[OpenDrawer] stage 1 drawer opened 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 [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 [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 [3]
+[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 [1]
+[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 [8]
+[OpenDrawer] stage 1 drawer opened 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 4 drawer closed with charger inside 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 2 charger picked up 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 [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 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 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 [1]
+[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 [9]
+[ckpt_step_0100000] rollout   1/50: success=True steps=476 env=0
+[ckpt_step_0100000] rollout   2/50: success=True steps=501 env=4
+[ckpt_step_0100000] rollout   3/50: success=True steps=566 env=6
+[ckpt_step_0100000] rollout   4/50: success=True steps=583 env=5
+[ckpt_step_0100000] rollout   5/50: success=True steps=866 env=2
+[ckpt_step_0100000] rollout   6/50: success=True steps=671 env=4
+[ckpt_step_0100000] rollout   7/50: success=False steps=1200 env=1
+[ckpt_step_0100000] rollout   8/50: success=False steps=1200 env=3
+[ckpt_step_0100000] rollout   9/50: success=False steps=1200 env=7
+[ckpt_step_0100000] rollout  10/50: success=False steps=1200 env=8
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+[ckpt_step_0100000] rollout  12/50: success=True steps=647 env=6
+[ckpt_step_0100000] rollout  13/50: success=True steps=634 env=5
+[ckpt_step_0100000] rollout  14/50: success=True steps=557 env=2
+[ckpt_step_0100000] rollout  15/50: success=False steps=1200 env=0
+[ckpt_step_0100000] rollout  16/50: success=True steps=566 env=7
+[ckpt_step_0100000] rollout  17/50: success=True steps=647 env=4
+[ckpt_step_0100000] rollout  18/50: success=True steps=683 env=9
+[ckpt_step_0100000] rollout  19/50: success=True steps=694 env=3
+[ckpt_step_0100000] rollout  20/50: success=True steps=1034 env=5
+[ckpt_step_0100000] rollout  21/50: success=True steps=520 env=7
+[ckpt_step_0100000] rollout  22/50: success=True steps=631 env=0
+[ckpt_step_0100000] rollout  23/50: success=True steps=907 env=2
+[ckpt_step_0100000] rollout  24/50: success=False steps=1200 env=1
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+[ckpt_step_0100000] rollout  27/50: success=True steps=612 env=4
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+[ckpt_step_0100000] rollout  29/50: success=True steps=621 env=2
+[ckpt_step_0100000] rollout  30/50: success=True steps=582 env=6
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+[ckpt_step_0100000] rollout  32/50: success=False steps=1200 env=3
+[ckpt_step_0100000] rollout  33/50: success=True steps=825 env=1
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+[ckpt_step_0100000] rollout  39/50: success=True steps=692 env=6
+[ckpt_step_0100000] rollout  40/50: success=True steps=622 env=3
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+[ckpt_step_0100000] rollout  42/50: success=True steps=655 env=1
+[ckpt_step_0100000] rollout  43/50: success=False steps=1200 env=5
+[ckpt_step_0100000] rollout  44/50: success=True steps=676 env=0
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+[ckpt_step_0100000] rollout  46/50: success=True steps=584 env=9
+[ckpt_step_0100000] rollout  47/50: success=True steps=528 env=1
+[ckpt_step_0100000] rollout  48/50: success=True steps=823 env=3
+[ckpt_step_0100000] rollout  49/50: success=False steps=1200 env=7
+[ckpt_step_0100000] rollout  50/50: success=False steps=1200 env=4