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+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) diff --git a/rollouts/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts/wandb/run-20260730_222806-y6kf0uo8/files/config.yaml b/rollouts/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts/wandb/run-20260730_222806-y6kf0uo8/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dbfe4abf13710899b59b3ebf42a7b56e3b28d10a --- /dev/null +++ b/rollouts/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts/wandb/run-20260730_222806-y6kf0uo8/files/config.yaml @@ -0,0 +1,261 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + qw0amcxmazezw6vxso34i7dk0p1nquys: + 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_120_flow_dagger_p94_flow_train/checkpoints + - -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: + /: + total: "1081101176832" + 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: + - 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/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts + startedAt: "2026-07-31T05:28:06.681668Z" + writerId: qw0amcxmazezw6vxso34i7dk0p1nquys + 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_120_flow_dagger_p94 + 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_120_flow_dagger_p94_flow_train + 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: + - 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_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 diff --git a/rollouts/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts/wandb/run-20260730_222806-y6kf0uo8/files/output.log b/rollouts/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts/wandb/run-20260730_222806-y6kf0uo8/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..a51428c3a8d2c352355f3b14d7e3a6e9e60964d3 --- /dev/null +++ b/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: + 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: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------------+ +| Active Event Terms in Mode: 'reset' | ++--------+----------------------------+ +| Index | Name | ++--------+----------------------------+ +| 0 | reset_all | +| 1 | reset_cabinet_position | +| 2 | reset_charger_position | ++--------+----------------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++------------------------------------------------------------+ +| Active Observation Terms in Group: 'policy' (shape: (39,)) | ++---------+----------------------------------------+---------+ +| Index | Name | Shape | ++---------+----------------------------------------+---------+ +| 0 | joint_pos | (9,) | +| 1 | joint_vel | (9,) | +| 2 | cabinet_joint_pos | (1,) | +| 3 | cabinet_joint_vel | (1,) | +| 4 | charger_pos | (3,) | +| 5 | rel_ee_drawer_distance | (3,) | +| 6 | rel_ee_charger_distance | (3,) | +| 7 | rel_charger_drawer_distance | (3,) | +| 8 | previous_action | (7,) | ++---------+----------------------------------------+---------+ ++-------------------------------------------+ +| Active Observation Terms in Group: 'pose' | ++---------+-----------------------+---------+ +| Index | Name | Shape | ++---------+-----------------------+---------+ +| 0 | ee_pose | (7,) | +| 1 | gripper_pose | (7,) | +| 2 | cabinet_pose | (7,) | +| 3 | left_table_pose | (7,) | +| 4 | charger_pose | (7,) | ++---------+-----------------------+---------+ ++--------------------------------------------------+ +| Active Observation Terms in Group: 'rgb_camera' | ++----------+-----------------+---------------------+ +| Index | Name | Shape | ++----------+-----------------+---------------------+ +| 0 | teleop_cam | (256, 256, 3) | +| 1 | left_cam | (256, 256, 3) | +| 2 | right_cam | (256, 256, 3) | +| 3 | wrist_cam | (256, 256, 3) | +| 4 | top_cam | (256, 256, 3) | ++----------+-----------------+---------------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 14 active terms. ++----------------------------------------------+ +| Active Reward Terms | ++-------+----------------------------+---------+ +| Index | Name | Weight | ++-------+----------------------------+---------+ +| 0 | approach_ee_handle | 2.0 | +| 1 | align_ee_handle | 0.5 | +| 2 | approach_gripper_handle | 5.0 | +| 3 | align_grasp_around_handle | 0.125 | +| 4 | grasp_handle | 0.5 | +| 5 | open_drawer_bonus | 7.5 | +| 6 | multi_stage_open_drawer | 1.0 | +| 7 | approach_ee_charger | 2.0 | +| 8 | lift_charger | 4.0 | +| 9 | charger_to_drawer | 6.0 | +| 10 | charger_in_drawer | 8.0 | +| 11 | close_drawer_after_charger | 10.0 | +| 12 | action_rate_l2 | -0.01 | +| 13 | joint_vel | -0.0001 | ++-------+----------------------------+---------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_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] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 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 diff --git a/rollouts/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts/wandb/run-20260730_222806-y6kf0uo8/files/requirements.txt b/rollouts/sd0_new_opendrawer_120_flow_dagger_p94_flow_train/sd0_50_rollouts/wandb/run-20260730_222806-y6kf0uo8/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/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 +async-timeout==5.0.1 +fsspec==2026.4.0 +isaacsim-extscache-kit-sdk==5.1.0.0 +nvidia-curand-cu12==10.3.9.55 +zipp==4.1.0 +huggingface_hub==0.36.2 +importlib_metadata==9.0.0 +isaacsim-example==5.1.0.0 +setuptools==81.0.0 +networkx==3.6.1 +python-multipart==0.0.20 +ipython==9.14.0 +idna-ssl==1.1.0 +isaacsim-robot==5.1.0.0 +wcwidth==0.7.0 +referencing==0.37.0 +tokenizers==0.22.2 +osqp==0.6.7.post3 +grpcio==1.80.0 +isaacsim-core==5.1.0.0 +imageio==2.37.0 +cmeel-tinyxml==2.6.2.3 +regex==2026.5.9 +Rtree==1.3.0 +pycares==4.8.0 +torchvision==0.22.0+cu128 +starlette==0.49.1 +aiofiles==23.2.1 +cmeel-zlib==1.3.2 +packaging==23.0 +pydantic==2.11.10 +pandas==3.0.3 +pip==26.1.2 +msal==1.27.0 +comm==0.2.3 +isaacsim-sensor==5.1.0.0 +cmeel-console-bridge==1.0.2.3 +isaacsim-kernel==5.1.0.0 +anytree==2.13.0 +trimesh==4.5.1 +h11==0.16.0 +isaacsim-robot-motion==5.1.0.0 +sentry-sdk==2.29.1 +cloudpickle==3.1.2 +azure-identity==1.13.0 +toml==0.10.2 +yarl==1.18.3 +msal-extensions==1.0.0 +scipy==1.15.3 +boto3==1.39.11 +pydantic_core==2.33.2 +charset-normalizer==3.3.2 +isaacsim-storage==5.1.0.0 +typing-inspection==0.4.2 +uvicorn==0.29.0 +frozenlist==1.5.0 +tomli==2.4.1 +aiohappyeyeballs==2.4.4 +aiosignal==1.3.2 +pytz==2024.1 +isaaclab==0.54.3 +eigenpy==3.5.1 +quadprog==0.1.13 +python-dateutil==2.9.0.post0 +rl_games==1.6.1 +awscrt==0.23.8 +nvidia-cusparse-cu12==12.5.7.53 +markdown-it-py==4.2.0 +pytest==9.0.3 +jupyterlab_widgets==3.0.16 +websockets==12.0 +isaacsim-code-editor==5.1.0.0 +pexpect==4.9.0 +rich==15.0.0 +isaaclab_assets==0.2.4 +aioitertools==0.11.0 +isaacsim-template==5.1.0.0 +platformdirs==4.10.0 +tensorboardX==2.6.5 +hidapi==0.14.0.post2 +cmeel-boost==1.83.0 +aiohttp==3.11.11 +pyperclip==1.8.0 +prettytable==3.3.0 +pyvers==0.2.2 +filelock==3.29.0 +requests==2.32.3 +isaacsim-app==5.1.0.0 +Werkzeug==3.1.8 +nvidia-cuda-cupti-cu12==12.8.57 +nlopt==2.7.1 +onnx==1.21.0 +onnxscript==0.7.0 +ipython_pygments_lexers==1.1.1 +absl-py==2.4.0 +isaacsim==5.1.0.0 +aiodns==3.1.1 +tensorboard==2.20.0 +gym==0.23.1 +isaacsim-rl==5.1.0.0 +python-dotenv==1.2.2 +hydra-core==1.3.2 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 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a/rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/results.txt b/rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..06a3c78d6f169da482fb5cd0a062f22bfbf0699a --- /dev/null +++ b/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 + +ckpt_step_0100000: step=100000 success_rate=0.7600 success_count=38/50 mean_episode_length=761.90 stage_drawer_opened=0.9400(47/50) stage_charger_picked=0.8200(41/50) stage_charger_placed=0.8000(40/50) stage_drawer_closed=0.7600(38/50) stage_drawer_opened_conditional=0.9400(47/50) stage_charger_picked_conditional=0.8723(41/47) stage_charger_placed_conditional=0.9756(40/41) stage_drawer_closed_conditional=0.9500(38/40) diff --git a/rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/wandb/run-20260812_084624-626pqo61/files/config.yaml b/rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/wandb/run-20260812_084624-626pqo61/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa0f436f4dc7f1c45497ca939c55c5fc9ca5e175 --- /dev/null +++ b/rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/wandb/run-20260812_084624-626pqo61/files/config.yaml @@ -0,0 +1,261 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + x1xubeaqqjarsthncc0l6zfah3e8pb5p: + 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_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: + /: + total: "1081101176832" + used: "929540587520" + 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/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts + startedAt: "2026-08-12T15:46:24.897153Z" + writerId: x1xubeaqqjarsthncc0l6zfah3e8pb5p + 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_220_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: 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_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: + - 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_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: + - 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 diff --git a/rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/wandb/run-20260812_084624-626pqo61/files/output.log b/rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/wandb/run-20260812_084624-626pqo61/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..e49b26e3a70d045adb31dbdc03f67657d521f498 --- /dev/null +++ b/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: + 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: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------------+ +| Active Event Terms in Mode: 'reset' | ++--------+----------------------------+ +| Index | Name | ++--------+----------------------------+ +| 0 | reset_all | +| 1 | reset_cabinet_position | +| 2 | reset_charger_position | ++--------+----------------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++------------------------------------------------------------+ +| Active Observation Terms in Group: 'policy' (shape: (39,)) | ++---------+----------------------------------------+---------+ +| Index | Name | Shape | ++---------+----------------------------------------+---------+ +| 0 | joint_pos | (9,) | +| 1 | joint_vel | (9,) | +| 2 | cabinet_joint_pos | (1,) | +| 3 | cabinet_joint_vel | (1,) | +| 4 | charger_pos | (3,) | +| 5 | rel_ee_drawer_distance | (3,) | +| 6 | rel_ee_charger_distance | (3,) | +| 7 | rel_charger_drawer_distance | (3,) | +| 8 | previous_action | (7,) | ++---------+----------------------------------------+---------+ ++-------------------------------------------+ +| Active Observation Terms in Group: 'pose' | ++---------+-----------------------+---------+ +| Index | Name | Shape | ++---------+-----------------------+---------+ +| 0 | ee_pose | (7,) | +| 1 | gripper_pose | (7,) | +| 2 | cabinet_pose | (7,) | +| 3 | left_table_pose | (7,) | +| 4 | charger_pose | (7,) | ++---------+-----------------------+---------+ ++--------------------------------------------------+ +| Active Observation Terms in Group: 'rgb_camera' | ++----------+-----------------+---------------------+ +| Index | Name | Shape | ++----------+-----------------+---------------------+ +| 0 | teleop_cam | (256, 256, 3) | +| 1 | left_cam | (256, 256, 3) | +| 2 | right_cam | (256, 256, 3) | +| 3 | wrist_cam | (256, 256, 3) | +| 4 | top_cam | (256, 256, 3) | ++----------+-----------------+---------------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 14 active terms. ++----------------------------------------------+ +| Active Reward Terms | ++-------+----------------------------+---------+ +| Index | Name | Weight | ++-------+----------------------------+---------+ +| 0 | approach_ee_handle | 2.0 | +| 1 | align_ee_handle | 0.5 | +| 2 | approach_gripper_handle | 5.0 | +| 3 | align_grasp_around_handle | 0.125 | +| 4 | grasp_handle | 0.5 | +| 5 | open_drawer_bonus | 7.5 | +| 6 | multi_stage_open_drawer | 1.0 | +| 7 | approach_ee_charger | 2.0 | +| 8 | lift_charger | 4.0 | +| 9 | charger_to_drawer | 6.0 | +| 10 | charger_in_drawer | 8.0 | +| 11 | close_drawer_after_charger | 10.0 | +| 12 | action_rate_l2 | -0.01 | +| 13 | joint_vel | -0.0001 | ++-------+----------------------------+---------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_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] +[OpenDrawer] stage 1 drawer opened 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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 +[ckpt_step_0100000] rollout 31/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 32/50: success=True steps=647 env=2 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 35/50: success=True steps=598 env=6 +[ckpt_step_0100000] rollout 36/50: success=True steps=703 env=4 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 39/50: success=True steps=777 env=2 +[ckpt_step_0100000] rollout 40/50: success=True steps=633 env=0 +[ckpt_step_0100000] rollout 41/50: success=True steps=610 env=8 +[ckpt_step_0100000] rollout 42/50: success=True steps=687 env=9 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 44/50: success=True steps=633 env=4 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=7 +[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 diff --git a/rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/wandb/run-20260812_084624-626pqo61/files/requirements.txt b/rollouts/sd0_new_opendrawer_220_vig_dagger_th3_flow_train/sd0_50_rollouts/wandb/run-20260812_084624-626pqo61/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/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 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a/rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/results.txt b/rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..cca26691866adb4f90744615cc8db80ff6ff951f --- /dev/null +++ b/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) diff --git a/rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_030338-o15ahucc/files/config.yaml b/rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_030338-o15ahucc/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3ee0f9d4a25117beed0d730bc58862ae66cc3b07 --- /dev/null +++ b/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 diff --git a/rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_030338-o15ahucc/files/output.log b/rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_030338-o15ahucc/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..782f5798961615a717ddb6a882f1839ea4d71d89 --- /dev/null +++ b/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: + 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: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------------+ +| Active Event Terms in Mode: 'reset' | ++--------+----------------------------+ +| Index | Name | ++--------+----------------------------+ +| 0 | reset_all | +| 1 | reset_cabinet_position | +| 2 | reset_charger_position | ++--------+----------------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++------------------------------------------------------------+ +| Active Observation Terms in Group: 'policy' (shape: (39,)) | ++---------+----------------------------------------+---------+ +| Index | Name | Shape | ++---------+----------------------------------------+---------+ +| 0 | joint_pos | (9,) | +| 1 | joint_vel | (9,) | +| 2 | cabinet_joint_pos | (1,) | +| 3 | cabinet_joint_vel | (1,) | +| 4 | charger_pos | (3,) | +| 5 | rel_ee_drawer_distance | (3,) | +| 6 | rel_ee_charger_distance | (3,) | +| 7 | rel_charger_drawer_distance | (3,) | +| 8 | previous_action | (7,) | ++---------+----------------------------------------+---------+ ++-------------------------------------------+ +| Active Observation Terms in Group: 'pose' | ++---------+-----------------------+---------+ +| Index | Name | Shape | ++---------+-----------------------+---------+ +| 0 | ee_pose | (7,) | +| 1 | gripper_pose | (7,) | +| 2 | cabinet_pose | (7,) | +| 3 | left_table_pose | (7,) | +| 4 | charger_pose | (7,) | ++---------+-----------------------+---------+ ++--------------------------------------------------+ +| Active Observation Terms in Group: 'rgb_camera' | ++----------+-----------------+---------------------+ +| Index | Name | Shape | ++----------+-----------------+---------------------+ +| 0 | teleop_cam | (256, 256, 3) | +| 1 | left_cam | (256, 256, 3) | +| 2 | right_cam | (256, 256, 3) | +| 3 | wrist_cam | (256, 256, 3) | +| 4 | top_cam | (256, 256, 3) | ++----------+-----------------+---------------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 14 active terms. ++----------------------------------------------+ +| Active Reward Terms | ++-------+----------------------------+---------+ +| Index | Name | Weight | ++-------+----------------------------+---------+ +| 0 | approach_ee_handle | 2.0 | +| 1 | align_ee_handle | 0.5 | +| 2 | approach_gripper_handle | 5.0 | +| 3 | align_grasp_around_handle | 0.125 | +| 4 | grasp_handle | 0.5 | +| 5 | open_drawer_bonus | 7.5 | +| 6 | multi_stage_open_drawer | 1.0 | +| 7 | approach_ee_charger | 2.0 | +| 8 | lift_charger | 4.0 | +| 9 | charger_to_drawer | 6.0 | +| 10 | charger_in_drawer | 8.0 | +| 11 | close_drawer_after_charger | 10.0 | +| 12 | action_rate_l2 | -0.01 | +| 13 | joint_vel | -0.0001 | ++-------+----------------------------+---------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_30_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] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 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 [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[ckpt_step_0100000] rollout 1/50: success=True steps=790 env=6 +[ckpt_step_0100000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=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=6 +[ckpt_step_0100000] rollout 12/50: success=True steps=921 env=5 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 21/50: success=True steps=655 env=1 +[ckpt_step_0100000] rollout 22/50: success=True steps=732 env=0 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 25/50: success=True steps=1058 env=2 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 31/50: success=True steps=695 env=6 +[ckpt_step_0100000] rollout 32/50: success=True steps=687 env=2 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 41/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 45/50: success=True steps=889 env=4 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=9 diff --git a/rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_030338-o15ahucc/files/requirements.txt b/rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_030338-o15ahucc/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd0_new_opendrawer_30_vig_dagger_th3_ema2_flow_train/sd0_50_rollouts/wandb/run-20260714_030338-o15ahucc/files/requirements.txt @@ -0,0 +1,262 @@ +robopolicy==0.1.0 +psutil==5.9.8 +isaaclab_contrib==0.0.2 +pluggy==1.6.0 +isaaclab_mimic==1.0.16 +stable_baselines3==2.8.0 +Pygments==2.20.0 +typing_extensions==4.15.0 +mdurl==0.1.2 +coverage==7.4.4 +jsonschema-specifications==2025.9.1 +isaacsim-robot-setup==5.1.0.0 +cmeel-qhull==8.0.2.1 +nest-asyncio==1.5.6 +Markdown==3.10.2 +tornado==6.5.1 +gymnasium==1.2.1 +orjson==3.11.9 +moviepy==2.2.1 +pyglet==1.5.31 +isaacsim-test==5.1.0.0 +isaacsim-gui==5.1.0.0 +torch==2.7.0+cu128 +nvidia-cusolver-cu12==11.7.2.55 +isaacsim-cortex==5.1.0.0 +qrcode==7.4.2 +rpds-py==2026.5.1 +async-timeout==5.0.1 +fsspec==2026.4.0 +isaacsim-extscache-kit-sdk==5.1.0.0 +nvidia-curand-cu12==10.3.9.55 +zipp==4.1.0 +huggingface_hub==0.36.2 +importlib_metadata==9.0.0 +isaacsim-example==5.1.0.0 +setuptools==81.0.0 +networkx==3.6.1 +python-multipart==0.0.20 +ipython==9.14.0 +idna-ssl==1.1.0 +isaacsim-robot==5.1.0.0 +wcwidth==0.7.0 +referencing==0.37.0 +tokenizers==0.22.2 +osqp==0.6.7.post3 +grpcio==1.80.0 +isaacsim-core==5.1.0.0 +imageio==2.37.0 +cmeel-tinyxml==2.6.2.3 +regex==2026.5.9 +Rtree==1.3.0 +pycares==4.8.0 +torchvision==0.22.0+cu128 +starlette==0.49.1 +aiofiles==23.2.1 +cmeel-zlib==1.3.2 +packaging==23.0 +pydantic==2.11.10 +pandas==3.0.3 +pip==26.1.2 +msal==1.27.0 +comm==0.2.3 +isaacsim-sensor==5.1.0.0 +cmeel-console-bridge==1.0.2.3 +isaacsim-kernel==5.1.0.0 +anytree==2.13.0 +trimesh==4.5.1 +h11==0.16.0 +isaacsim-robot-motion==5.1.0.0 +sentry-sdk==2.29.1 +cloudpickle==3.1.2 +azure-identity==1.13.0 +toml==0.10.2 +yarl==1.18.3 +msal-extensions==1.0.0 +scipy==1.15.3 +boto3==1.39.11 +pydantic_core==2.33.2 +charset-normalizer==3.3.2 +isaacsim-storage==5.1.0.0 +typing-inspection==0.4.2 +uvicorn==0.29.0 +frozenlist==1.5.0 +tomli==2.4.1 +aiohappyeyeballs==2.4.4 +aiosignal==1.3.2 +pytz==2024.1 +isaaclab==0.54.3 +eigenpy==3.5.1 +quadprog==0.1.13 +python-dateutil==2.9.0.post0 +rl_games==1.6.1 +awscrt==0.23.8 +nvidia-cusparse-cu12==12.5.7.53 +markdown-it-py==4.2.0 +pytest==9.0.3 +jupyterlab_widgets==3.0.16 +websockets==12.0 +isaacsim-code-editor==5.1.0.0 +pexpect==4.9.0 +rich==15.0.0 +isaaclab_assets==0.2.4 +aioitertools==0.11.0 +isaacsim-template==5.1.0.0 +platformdirs==4.10.0 +tensorboardX==2.6.5 +hidapi==0.14.0.post2 +cmeel-boost==1.83.0 +aiohttp==3.11.11 +pyperclip==1.8.0 +prettytable==3.3.0 +pyvers==0.2.2 +filelock==3.29.0 +requests==2.32.3 +isaacsim-app==5.1.0.0 +Werkzeug==3.1.8 +nvidia-cuda-cupti-cu12==12.8.57 +nlopt==2.7.1 +onnx==1.21.0 +onnxscript==0.7.0 +ipython_pygments_lexers==1.1.1 +absl-py==2.4.0 +isaacsim==5.1.0.0 +aiodns==3.1.1 +tensorboard==2.20.0 +gym==0.23.1 +isaacsim-rl==5.1.0.0 +python-dotenv==1.2.2 +hydra-core==1.3.2 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 +gunicorn==23.0.0 +transformers==4.57.6 +omegaconf==2.3.0 +contourpy==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +azure-storage-blob==12.17.0 +ray==2.52.1 +tqdm==4.67.3 +PyYAML==6.0.2 +qdldl==0.1.7.post5 +gitdb==4.0.12 +qpsolvers==4.12.0 +wheel==0.47.0 +fastapi==0.115.7 +nvidia-cudnn-cu12==9.7.1.26 +sympy==1.14.0 +kiwisolver==1.4.4 +isaacsim-ros2==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.8.61 +aioboto3==15.1.0 +wandb==0.27.0 +numpy==1.26.4 +protobuf==7.35.0 +torchaudio==2.7.0 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b/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) diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..7cdc4e1e83cd5ca082747d9ac3d13ca0d6a143a6 --- /dev/null +++ b/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 diff --git a/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/output.log b/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/output.log new file mode 100644 index 0000000000000000000000000000000000000000..88fc0c089b3b7c40b88bc8be866b1507258615a9 --- /dev/null +++ b/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/output.log @@ -0,0 +1,1616 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-24_16-10-43.log +====================================================================================== + +16:10:43 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.016666666666666666 + Environment step-size : 0.016666666666666666 +16:10:43 [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 : 0.574445 seconds +[INFO]: Scene manager: + Number of environments: 10 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : ['/World/GroundPlane'] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +[INFO]: Time taken for simulation start : 4.215015 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------------+ +| Active Event Terms in Mode: 'reset' | ++--------+----------------------------+ +| Index | Name | ++--------+----------------------------+ +| 0 | reset_all | +| 1 | reset_cabinet_position | +| 2 | reset_charger_position | ++--------+----------------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++------------------------------------------------------------+ +| Active Observation Terms in Group: 'policy' (shape: (39,)) | ++---------+----------------------------------------+---------+ +| Index | Name | Shape | ++---------+----------------------------------------+---------+ +| 0 | joint_pos | (9,) | +| 1 | joint_vel | (9,) | +| 2 | cabinet_joint_pos | (1,) | +| 3 | cabinet_joint_vel | (1,) | +| 4 | charger_pos | (3,) | +| 5 | rel_ee_drawer_distance | (3,) | +| 6 | rel_ee_charger_distance | (3,) | +| 7 | rel_charger_drawer_distance | (3,) | +| 8 | previous_action | (7,) | ++---------+----------------------------------------+---------+ ++-------------------------------------------+ +| Active Observation Terms in Group: 'pose' | ++---------+-----------------------+---------+ +| Index | Name | Shape | ++---------+-----------------------+---------+ +| 0 | ee_pose | (7,) | +| 1 | gripper_pose | (7,) | +| 2 | cabinet_pose | (7,) | +| 3 | left_table_pose | (7,) | +| 4 | charger_pose | (7,) | ++---------+-----------------------+---------+ ++--------------------------------------------------+ +| Active Observation Terms in Group: 'rgb_camera' | ++----------+-----------------+---------------------+ +| Index | Name | Shape | ++----------+-----------------+---------------------+ +| 0 | teleop_cam | (256, 256, 3) | +| 1 | left_cam | (256, 256, 3) | +| 2 | right_cam | (256, 256, 3) | +| 3 | wrist_cam | (256, 256, 3) | +| 4 | top_cam | (256, 256, 3) | ++----------+-----------------+---------------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 14 active terms. ++----------------------------------------------+ +| Active Reward Terms | ++-------+----------------------------+---------+ +| Index | Name | Weight | ++-------+----------------------------+---------+ +| 0 | approach_ee_handle | 2.0 | +| 1 | align_ee_handle | 0.5 | +| 2 | approach_gripper_handle | 5.0 | +| 3 | align_grasp_around_handle | 0.125 | +| 4 | grasp_handle | 0.5 | +| 5 | open_drawer_bonus | 7.5 | +| 6 | multi_stage_open_drawer | 1.0 | +| 7 | approach_ee_charger | 2.0 | +| 8 | lift_charger | 4.0 | +| 9 | charger_to_drawer | 6.0 | +| 10 | charger_in_drawer | 8.0 | +| 11 | close_drawer_after_charger | 10.0 | +| 12 | action_rate_l2 | -0.01 | +| 13 | joint_vel | -0.0001 | ++-------+----------------------------+---------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0010000.pt (step=10000) +[extract_model_images] camera_names=['left', 'wrist'] per_camera_shapes=[(10, 3, 256, 256), (10, 3, 256, 256)] return_shape=(10, 2, 3, 256, 256) dtype=torch.uint8 +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[ckpt_step_0010000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 11/50: success=True steps=766 env=2 +[ckpt_step_0010000] rollout 12/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 14/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 15/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 21/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 22/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 23/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 24/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 25/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 26/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 27/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 31/50: success=True steps=713 env=1 +[ckpt_step_0010000] rollout 32/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 33/50: success=True steps=1054 env=6 +[ckpt_step_0010000] rollout 34/50: success=False steps=1200 env=0 +[ckpt_step_0010000] rollout 35/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 36/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 38/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0010000] rollout 41/50: success=False steps=1200 env=1 +[ckpt_step_0010000] rollout 42/50: success=False steps=1200 env=2 +[ckpt_step_0010000] rollout 43/50: success=True steps=933 env=0 +[ckpt_step_0010000] rollout 44/50: success=False steps=1200 env=6 +[ckpt_step_0010000] rollout 45/50: success=False steps=1200 env=3 +[ckpt_step_0010000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0010000] rollout 47/50: success=False steps=1200 env=5 +[ckpt_step_0010000] rollout 48/50: success=False steps=1200 env=7 +[ckpt_step_0010000] rollout 49/50: success=False steps=1200 env=8 +[ckpt_step_0010000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0020000.pt (step=20000) +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up 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 [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[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 [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[ckpt_step_0020000] rollout 1/50: success=True steps=734 env=9 +[ckpt_step_0020000] rollout 2/50: success=True steps=845 env=5 +[ckpt_step_0020000] rollout 3/50: success=True steps=970 env=3 +[ckpt_step_0020000] rollout 4/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 5/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 6/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 7/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 10/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 11/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 12/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 13/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 14/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 15/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 16/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 17/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 20/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 21/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 22/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 23/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 24/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 26/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 31/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 32/50: success=True steps=828 env=0 +[ckpt_step_0020000] rollout 33/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 34/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 35/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 36/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 37/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 38/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 39/50: success=False steps=1200 env=7 +[ckpt_step_0020000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0020000] rollout 41/50: success=True steps=638 env=7 +[ckpt_step_0020000] rollout 42/50: success=False steps=1200 env=9 +[ckpt_step_0020000] rollout 43/50: success=False steps=1200 env=0 +[ckpt_step_0020000] rollout 44/50: success=False steps=1200 env=5 +[ckpt_step_0020000] rollout 45/50: success=False steps=1200 env=3 +[ckpt_step_0020000] rollout 46/50: success=False steps=1200 env=1 +[ckpt_step_0020000] rollout 47/50: success=False steps=1200 env=2 +[ckpt_step_0020000] rollout 48/50: success=False steps=1200 env=4 +[ckpt_step_0020000] rollout 49/50: success=False steps=1200 env=6 +[ckpt_step_0020000] rollout 50/50: success=False steps=1200 env=8 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0030000.pt (step=30000) +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[ckpt_step_0030000] rollout 1/50: success=True steps=755 env=0 +[ckpt_step_0030000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 11/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 12/50: success=True steps=818 env=2 +[ckpt_step_0030000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 14/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 15/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 21/50: success=True steps=750 env=8 +[ckpt_step_0030000] rollout 22/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 23/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 24/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 25/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 26/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0030000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 31/50: success=True steps=740 env=7 +[ckpt_step_0030000] rollout 32/50: success=True steps=749 env=1 +[ckpt_step_0030000] rollout 33/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 34/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 35/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 36/50: success=True steps=943 env=3 +[ckpt_step_0030000] rollout 37/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 38/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0030000] rollout 41/50: success=True steps=792 env=7 +[ckpt_step_0030000] rollout 42/50: success=False steps=1200 env=1 +[ckpt_step_0030000] rollout 43/50: success=False steps=1200 env=8 +[ckpt_step_0030000] rollout 44/50: success=False steps=1200 env=0 +[ckpt_step_0030000] rollout 45/50: success=False steps=1200 env=2 +[ckpt_step_0030000] rollout 46/50: success=False steps=1200 env=3 +[ckpt_step_0030000] rollout 47/50: success=False steps=1200 env=4 +[ckpt_step_0030000] rollout 48/50: success=False steps=1200 env=5 +[ckpt_step_0030000] rollout 49/50: success=False steps=1200 env=6 +[ckpt_step_0030000] rollout 50/50: success=False steps=1200 env=9 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0040000.pt (step=40000) +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1, 8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[ckpt_step_0040000] rollout 1/50: success=True steps=649 env=6 +[ckpt_step_0040000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 11/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 12/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 17/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 21/50: success=True steps=686 env=6 +[ckpt_step_0040000] rollout 22/50: success=True steps=569 env=9 +[ckpt_step_0040000] rollout 23/50: success=True steps=798 env=7 +[ckpt_step_0040000] rollout 24/50: success=True steps=857 env=4 +[ckpt_step_0040000] rollout 25/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 26/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 27/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 28/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 29/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 31/50: success=True steps=662 env=9 +[ckpt_step_0040000] rollout 32/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 33/50: success=True steps=592 env=0 +[ckpt_step_0040000] rollout 34/50: success=True steps=635 env=2 +[ckpt_step_0040000] rollout 35/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 36/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 37/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 38/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 39/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0040000] rollout 41/50: success=False steps=1200 env=9 +[ckpt_step_0040000] rollout 42/50: success=False steps=1200 env=6 +[ckpt_step_0040000] rollout 43/50: success=False steps=1200 env=0 +[ckpt_step_0040000] rollout 44/50: success=False steps=1200 env=2 +[ckpt_step_0040000] rollout 45/50: success=False steps=1200 env=7 +[ckpt_step_0040000] rollout 46/50: success=False steps=1200 env=4 +[ckpt_step_0040000] rollout 47/50: success=False steps=1200 env=1 +[ckpt_step_0040000] rollout 48/50: success=False steps=1200 env=3 +[ckpt_step_0040000] rollout 49/50: success=False steps=1200 env=5 +[ckpt_step_0040000] rollout 50/50: success=False steps=1200 env=8 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0050000.pt (step=50000) +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[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 [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[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 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[ckpt_step_0050000] rollout 1/50: success=True steps=684 env=7 +[ckpt_step_0050000] rollout 2/50: success=True steps=706 env=3 +[ckpt_step_0050000] rollout 3/50: success=True steps=815 env=6 +[ckpt_step_0050000] rollout 4/50: success=True steps=821 env=8 +[ckpt_step_0050000] rollout 5/50: success=True steps=831 env=9 +[ckpt_step_0050000] rollout 6/50: success=True steps=1192 env=2 +[ckpt_step_0050000] rollout 7/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 8/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 9/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 10/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 11/50: success=True steps=710 env=3 +[ckpt_step_0050000] rollout 12/50: success=True steps=707 env=6 +[ckpt_step_0050000] rollout 13/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 14/50: success=True steps=688 env=1 +[ckpt_step_0050000] rollout 15/50: success=True steps=735 env=5 +[ckpt_step_0050000] rollout 16/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 17/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 18/50: success=True steps=1024 env=2 +[ckpt_step_0050000] rollout 19/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 20/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 21/50: success=True steps=971 env=6 +[ckpt_step_0050000] rollout 22/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 23/50: success=True steps=786 env=7 +[ckpt_step_0050000] rollout 24/50: success=True steps=693 env=8 +[ckpt_step_0050000] rollout 25/50: success=True steps=997 env=9 +[ckpt_step_0050000] rollout 26/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0050000] rollout 28/50: success=True steps=743 env=6 +[ckpt_step_0050000] rollout 29/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 30/50: success=True steps=805 env=7 +[ckpt_step_0050000] rollout 31/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 32/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 33/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 34/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 35/50: success=True steps=1001 env=5 +[ckpt_step_0050000] rollout 36/50: success=False steps=1200 env=9 +[ckpt_step_0050000] rollout 37/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 38/50: success=False steps=1200 env=6 +[ckpt_step_0050000] rollout 39/50: success=False steps=1200 env=2 +[ckpt_step_0050000] rollout 40/50: success=False steps=1200 env=7 +[ckpt_step_0050000] rollout 41/50: success=True steps=639 env=5 +[ckpt_step_0050000] rollout 42/50: success=False steps=1200 env=0 +[ckpt_step_0050000] rollout 43/50: success=False steps=1200 env=4 +[ckpt_step_0050000] rollout 44/50: success=False steps=1200 env=3 +[ckpt_step_0050000] rollout 45/50: success=False steps=1200 env=8 +[ckpt_step_0050000] rollout 46/50: success=True steps=746 env=2 +[ckpt_step_0050000] rollout 47/50: success=True steps=1153 env=9 +[ckpt_step_0050000] rollout 48/50: success=True steps=627 env=0 +[ckpt_step_0050000] rollout 49/50: success=False steps=1200 env=1 +[ckpt_step_0050000] rollout 50/50: success=False steps=1200 env=6 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0060000.pt (step=60000) +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 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 [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer 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 [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[ckpt_step_0060000] rollout 1/50: success=True steps=603 env=5 +[ckpt_step_0060000] rollout 2/50: success=True steps=625 env=7 +[ckpt_step_0060000] rollout 3/50: success=True steps=774 env=4 +[ckpt_step_0060000] rollout 4/50: success=True steps=1034 env=0 +[ckpt_step_0060000] rollout 5/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 6/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 7/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 11/50: success=True steps=730 env=5 +[ckpt_step_0060000] rollout 12/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 13/50: success=True steps=700 env=6 +[ckpt_step_0060000] rollout 14/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 15/50: success=True steps=779 env=3 +[ckpt_step_0060000] rollout 16/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 17/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 18/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 21/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 22/50: success=True steps=904 env=3 +[ckpt_step_0060000] rollout 23/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 24/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 25/50: success=True steps=754 env=2 +[ckpt_step_0060000] rollout 26/50: success=True steps=772 env=1 +[ckpt_step_0060000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 28/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 31/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 32/50: success=True steps=699 env=6 +[ckpt_step_0060000] rollout 33/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 34/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 35/50: success=False steps=1200 env=2 +[ckpt_step_0060000] rollout 36/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 37/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 38/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0060000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0060000] rollout 41/50: success=False steps=1200 env=5 +[ckpt_step_0060000] rollout 42/50: success=False steps=1200 env=6 +[ckpt_step_0060000] rollout 43/50: success=True steps=807 env=2 +[ckpt_step_0060000] rollout 44/50: success=False steps=1200 env=3 +[ckpt_step_0060000] rollout 45/50: success=False steps=1200 env=7 +[ckpt_step_0060000] rollout 46/50: success=False steps=1200 env=1 +[ckpt_step_0060000] rollout 47/50: success=False steps=1200 env=4 +[ckpt_step_0060000] rollout 48/50: success=True steps=700 env=6 +[ckpt_step_0060000] rollout 49/50: success=False steps=1200 env=0 +[ckpt_step_0060000] rollout 50/50: success=False steps=1200 env=8 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0070000.pt (step=70000) +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0, 4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[ckpt_step_0070000] rollout 1/50: success=True steps=653 env=8 +[ckpt_step_0070000] rollout 2/50: success=True steps=715 env=1 +[ckpt_step_0070000] rollout 3/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 8/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 9/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 11/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 12/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 17/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 18/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 19/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 21/50: success=True steps=960 env=8 +[ckpt_step_0070000] rollout 22/50: success=False steps=1200 env=1 +[ckpt_step_0070000] rollout 23/50: success=True steps=864 env=5 +[ckpt_step_0070000] rollout 24/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 25/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 31/50: success=True steps=696 env=1 +[ckpt_step_0070000] rollout 32/50: success=True steps=1055 env=8 +[ckpt_step_0070000] rollout 33/50: success=True steps=601 env=9 +[ckpt_step_0070000] rollout 34/50: success=True steps=710 env=2 +[ckpt_step_0070000] rollout 35/50: success=False steps=1200 env=5 +[ckpt_step_0070000] rollout 36/50: success=True steps=659 env=1 +[ckpt_step_0070000] rollout 37/50: success=False steps=1200 env=0 +[ckpt_step_0070000] rollout 38/50: success=False steps=1200 env=3 +[ckpt_step_0070000] rollout 39/50: success=False steps=1200 env=4 +[ckpt_step_0070000] rollout 40/50: success=False steps=1200 env=6 +[ckpt_step_0070000] rollout 41/50: success=False steps=1200 env=7 +[ckpt_step_0070000] rollout 42/50: success=False steps=1200 env=8 +[ckpt_step_0070000] rollout 43/50: success=True steps=771 env=1 +[ckpt_step_0070000] rollout 44/50: success=False steps=1200 env=9 +[ckpt_step_0070000] rollout 45/50: success=True steps=621 env=7 +[ckpt_step_0070000] rollout 46/50: success=False steps=1200 env=2 +[ckpt_step_0070000] rollout 47/50: success=True steps=783 env=4 +[ckpt_step_0070000] rollout 48/50: success=True steps=1181 env=5 +[ckpt_step_0070000] rollout 49/50: success=True steps=807 env=8 +[ckpt_step_0070000] rollout 50/50: success=False steps=1200 env=0 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0080000.pt (step=80000) +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 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 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 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 [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[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 [7] +[ckpt_step_0080000] rollout 1/50: success=True steps=626 env=6 +[ckpt_step_0080000] rollout 2/50: success=True steps=646 env=2 +[ckpt_step_0080000] rollout 3/50: success=True steps=685 env=1 +[ckpt_step_0080000] rollout 4/50: success=True steps=733 env=5 +[ckpt_step_0080000] rollout 5/50: success=True steps=814 env=7 +[ckpt_step_0080000] rollout 6/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 7/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 8/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 11/50: success=True steps=747 env=1 +[ckpt_step_0080000] rollout 12/50: success=True steps=746 env=7 +[ckpt_step_0080000] rollout 13/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 15/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 16/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 17/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 18/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 21/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 22/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 23/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 24/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 25/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 26/50: success=True steps=686 env=1 +[ckpt_step_0080000] rollout 27/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 28/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 29/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0080000] rollout 31/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 32/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 33/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 34/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 35/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 36/50: success=True steps=862 env=8 +[ckpt_step_0080000] rollout 37/50: success=False steps=1200 env=1 +[ckpt_step_0080000] rollout 38/50: success=False steps=1200 env=0 +[ckpt_step_0080000] rollout 39/50: success=False steps=1200 env=3 +[ckpt_step_0080000] rollout 40/50: success=False steps=1200 env=4 +[ckpt_step_0080000] rollout 41/50: success=False steps=1200 env=9 +[ckpt_step_0080000] rollout 42/50: success=True steps=624 env=8 +[ckpt_step_0080000] rollout 43/50: success=False steps=1200 env=7 +[ckpt_step_0080000] rollout 44/50: success=False steps=1200 env=6 +[ckpt_step_0080000] rollout 45/50: success=False steps=1200 env=2 +[ckpt_step_0080000] rollout 46/50: success=True steps=647 env=0 +[ckpt_step_0080000] rollout 47/50: success=False steps=1200 env=5 +[ckpt_step_0080000] rollout 48/50: success=True steps=1195 env=1 +[ckpt_step_0080000] rollout 49/50: success=True steps=689 env=7 +[ckpt_step_0080000] rollout 50/50: success=False steps=1200 env=3 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0090000.pt (step=90000) +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened 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 [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[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 [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [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 [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[ckpt_step_0090000] rollout 1/50: success=True steps=601 env=6 +[ckpt_step_0090000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 5/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 6/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 7/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 11/50: success=True steps=742 env=6 +[ckpt_step_0090000] rollout 12/50: success=True steps=655 env=0 +[ckpt_step_0090000] rollout 13/50: success=True steps=681 env=9 +[ckpt_step_0090000] rollout 14/50: success=True steps=735 env=8 +[ckpt_step_0090000] rollout 15/50: success=True steps=741 env=2 +[ckpt_step_0090000] rollout 16/50: success=True steps=910 env=1 +[ckpt_step_0090000] rollout 17/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 18/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 19/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 20/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 21/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 22/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 23/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 24/50: success=True steps=720 env=5 +[ckpt_step_0090000] rollout 25/50: success=False steps=1200 env=8 +[ckpt_step_0090000] rollout 26/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 27/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 28/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 29/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 30/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 31/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 32/50: success=True steps=646 env=2 +[ckpt_step_0090000] rollout 33/50: success=True steps=667 env=8 +[ckpt_step_0090000] rollout 34/50: success=True steps=651 env=7 +[ckpt_step_0090000] rollout 35/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 36/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0090000] rollout 38/50: success=True steps=646 env=8 +[ckpt_step_0090000] rollout 39/50: success=False steps=1200 env=1 +[ckpt_step_0090000] rollout 40/50: success=False steps=1200 env=3 +[ckpt_step_0090000] rollout 41/50: success=False steps=1200 env=4 +[ckpt_step_0090000] rollout 42/50: success=False steps=1200 env=6 +[ckpt_step_0090000] rollout 43/50: success=False steps=1200 env=2 +[ckpt_step_0090000] rollout 44/50: success=True steps=669 env=5 +[ckpt_step_0090000] rollout 45/50: success=True steps=719 env=8 +[ckpt_step_0090000] rollout 46/50: success=False steps=1200 env=7 +[ckpt_step_0090000] rollout 47/50: success=False steps=1200 env=0 +[ckpt_step_0090000] rollout 48/50: success=False steps=1200 env=9 +[ckpt_step_0090000] rollout 49/50: success=True steps=726 env=4 +[ckpt_step_0090000] rollout 50/50: success=True steps=784 env=3 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_final.pt (step=100000) +[OpenDrawer] stage 1 drawer opened success reached for envs [0, 4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5, 9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[ckpt_final] rollout 1/50: success=True steps=738 env=2 +[ckpt_final] rollout 2/50: success=False steps=1200 env=0 +[ckpt_final] rollout 3/50: success=False steps=1200 env=1 +[ckpt_final] rollout 4/50: success=False steps=1200 env=3 +[ckpt_final] rollout 5/50: success=False steps=1200 env=4 +[ckpt_final] rollout 6/50: success=False steps=1200 env=5 +[ckpt_final] rollout 7/50: success=False steps=1200 env=6 +[ckpt_final] rollout 8/50: success=False steps=1200 env=7 +[ckpt_final] rollout 9/50: success=False steps=1200 env=8 +[ckpt_final] rollout 10/50: success=False steps=1200 env=9 +[ckpt_final] rollout 11/50: success=True steps=612 env=6 +[ckpt_final] rollout 12/50: success=True steps=648 env=9 +[ckpt_final] rollout 13/50: success=False steps=1200 env=2 +[ckpt_final] rollout 14/50: success=True steps=1046 env=1 +[ckpt_final] rollout 15/50: success=False steps=1200 env=0 +[ckpt_final] rollout 16/50: success=False steps=1200 env=3 +[ckpt_final] rollout 17/50: success=False steps=1200 env=4 +[ckpt_final] rollout 18/50: success=False steps=1200 env=5 +[ckpt_final] rollout 19/50: success=False steps=1200 env=7 +[ckpt_final] rollout 20/50: success=False steps=1200 env=8 +[ckpt_final] rollout 21/50: success=True steps=682 env=6 +[ckpt_final] rollout 22/50: success=True steps=626 env=2 +[ckpt_final] rollout 23/50: success=True steps=592 env=7 +[ckpt_final] rollout 24/50: success=False steps=1200 env=9 +[ckpt_final] rollout 25/50: success=True steps=724 env=6 +[ckpt_final] rollout 26/50: success=False steps=1200 env=1 +[ckpt_final] rollout 27/50: success=False steps=1200 env=0 +[ckpt_final] rollout 28/50: success=False steps=1200 env=3 +[ckpt_final] rollout 29/50: success=False steps=1200 env=4 +[ckpt_final] rollout 30/50: success=False steps=1200 env=5 +[ckpt_final] rollout 31/50: success=False steps=1200 env=8 +[ckpt_final] rollout 32/50: success=False steps=1200 env=2 +[ckpt_final] rollout 33/50: success=True steps=800 env=9 +[ckpt_final] rollout 34/50: success=True steps=915 env=6 +[ckpt_final] rollout 35/50: success=False steps=1200 env=7 +[ckpt_final] rollout 36/50: success=True steps=747 env=5 +[ckpt_final] rollout 37/50: success=True steps=783 env=9 +[ckpt_final] rollout 38/50: success=False steps=1200 env=1 +[ckpt_final] rollout 39/50: success=False steps=1200 env=0 +[ckpt_final] rollout 40/50: success=False steps=1200 env=3 +[ckpt_final] rollout 41/50: success=False steps=1200 env=4 +[ckpt_final] rollout 42/50: success=False steps=1200 env=8 +[ckpt_final] rollout 43/50: success=False steps=1200 env=2 +[ckpt_final] rollout 44/50: success=True steps=725 env=5 +[ckpt_final] rollout 45/50: success=False steps=1200 env=6 +[ckpt_final] rollout 46/50: success=False steps=1200 env=7 +[ckpt_final] rollout 47/50: success=True steps=671 env=5 +[ckpt_final] rollout 48/50: success=False steps=1200 env=9 +[ckpt_final] rollout 49/50: success=False steps=1200 env=1 +[ckpt_final] rollout 50/50: success=False steps=1200 env=0 +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3, 5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[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 [5] +[ckpt_step_0100000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 11/50: success=True steps=591 env=4 +[ckpt_step_0100000] rollout 12/50: success=True steps=734 env=2 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 21/50: success=True steps=669 env=2 +[ckpt_step_0100000] rollout 22/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 23/50: success=True steps=714 env=0 +[ckpt_step_0100000] rollout 24/50: success=True steps=704 env=2 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 31/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 32/50: success=True steps=725 env=2 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 35/50: success=True steps=761 env=3 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 41/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 44/50: success=True steps=616 env=5 +[ckpt_step_0100000] rollout 45/50: success=True steps=692 env=9 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 49/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=7 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/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 +sentry-sdk==2.29.1 +cloudpickle==3.1.2 +azure-identity==1.13.0 +toml==0.10.2 +yarl==1.18.3 +msal-extensions==1.0.0 +scipy==1.15.3 +boto3==1.39.11 +pydantic_core==2.33.2 +charset-normalizer==3.3.2 +isaacsim-storage==5.1.0.0 +typing-inspection==0.4.2 +uvicorn==0.29.0 +frozenlist==1.5.0 +tomli==2.4.1 +aiohappyeyeballs==2.4.4 +aiosignal==1.3.2 +pytz==2024.1 +isaaclab==0.54.3 +eigenpy==3.5.1 +quadprog==0.1.13 +python-dateutil==2.9.0.post0 +rl_games==1.6.1 +awscrt==0.23.8 +nvidia-cusparse-cu12==12.5.7.53 +markdown-it-py==4.2.0 +pytest==9.0.3 +jupyterlab_widgets==3.0.16 +websockets==12.0 +isaacsim-code-editor==5.1.0.0 +pexpect==4.9.0 +rich==15.0.0 +isaaclab_assets==0.2.4 +aioitertools==0.11.0 +isaacsim-template==5.1.0.0 +platformdirs==4.10.0 +tensorboardX==2.6.5 +hidapi==0.14.0.post2 +cmeel-boost==1.83.0 +aiohttp==3.11.11 +pyperclip==1.8.0 +prettytable==3.3.0 +pyvers==0.2.2 +filelock==3.29.0 +requests==2.32.3 +isaacsim-app==5.1.0.0 +Werkzeug==3.1.8 +nvidia-cuda-cupti-cu12==12.8.57 +nlopt==2.7.1 +onnx==1.21.0 +onnxscript==0.7.0 +ipython_pygments_lexers==1.1.1 +absl-py==2.4.0 +isaacsim==5.1.0.0 +aiodns==3.1.1 +tensorboard==2.20.0 +gym==0.23.1 +isaacsim-rl==5.1.0.0 +python-dotenv==1.2.2 +hydra-core==1.3.2 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 +gunicorn==23.0.0 +transformers==4.57.6 +omegaconf==2.3.0 +contourpy==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +azure-storage-blob==12.17.0 +ray==2.52.1 +tqdm==4.67.3 +PyYAML==6.0.2 +qdldl==0.1.7.post5 +gitdb==4.0.12 +qpsolvers==4.12.0 +wheel==0.47.0 +fastapi==0.115.7 +nvidia-cudnn-cu12==9.7.1.26 +sympy==1.14.0 +kiwisolver==1.4.4 +isaacsim-ros2==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.8.61 +aioboto3==15.1.0 +wandb==0.27.0 +numpy==1.26.4 +protobuf==7.35.0 +torchaudio==2.7.0 +nvidia-cufile-cu12==1.13.0.11 +certifi==2026.5.20 +attrs==25.1.0 +urllib3==2.7.0 +iniconfig==2.3.0 +cryptography==44.0.0 +isaacsim-replicator==5.1.0.0 +pytransform3d==3.15.0 +MarkupSafe==3.0.3 +opencv-python-headless==4.11.0.86 +setproctitle==1.3.7 +isaacsim-utils==5.1.0.0 +ptyprocess==0.7.0 +flatdict==4.1.0 +isaacsim-asset==5.1.0.0 +cffi==2.0.0 +skrl==2.1.0 +loop-rate-limiters==1.2.0 +nvidia-cublas-cu12==12.8.3.14 +GitPython==3.1.50 +Jinja2==3.1.6 +cmeel-urdfdom==3.1.1.1 +proglog==0.1.12 +isaaclab_rl==0.5.1 +s3transfer==0.13.1 +pin==2.7.0 +h5py==3.16.0 +widgetsnbextension==4.0.15 +decorator==5.3.1 +mpmath==1.3.0 +triton==3.3.0 +oauthlib==3.2.2 +Farama-Notifications==0.0.6 +llvmlite==0.42.0 +prompt_toolkit==3.0.52 +onnx-ir==0.2.1 +matplotlib==3.10.3 +einops==0.8.2 +warp-lang==1.13.0 +requests-oauthlib==1.3.1 +pypng==0.20220715.0 +pure_eval==0.2.3 +antlr4-python3-runtime==4.9.3 +matplotlib-inline==0.2.2 +ipywidgets==8.1.5 +safetensors==0.7.0 +flaky==3.8.1 +six==1.17.0 +idna==3.10 +nvidia-nccl-cu12==2.26.2 +dex_retargeting==0.4.6 diff --git a/rollouts/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260624_161042-xcbq0oon/files/wandb-metadata.json b/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/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ed4e72048cdc7b20be6e2743b56ef8bc4d9f30c2 --- /dev/null +++ b/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/wandb-metadata.json @@ -0,0 +1,56 @@ +{ + "os": "Linux-7.0.0-22-generic-x86_64-with-glibc2.43", + "python": "CPython 3.11.15", + "startedAt": "2026-06-24T23:10:42.474313Z", + "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" + ], + "program": "/home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py", + "codePath": "scripts/eval/roboticsarmsim_eval.py", + "codePathLocal": "scripts/eval/roboticsarmsim_eval.py", + "git": { + "remote": "git@github.com:YixiaoWang7/robopolicy.git", + "commit": "d323bc5b083a667adf8a659e6a042c0f96948892" + }, + "email": "chengenwu@berkeley.edu", + "root": "/home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_stage_4_25_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts", + "host": "yixiao-G914", + "executable": "/home/david/Document/env_isaaclab/bin/python", + "cpu_count": 16, + "cpu_count_logical": 32, + "gpu": "NVIDIA GeForce RTX 5090", + "gpu_count": 1, + "disk": { + "/": { + "total": "1081101176832", + "used": "654973128704" + } + }, + "memory": { + "total": "65677729792" + }, + "gpu_nvidia": [ + { + "name": "NVIDIA GeForce RTX 5090", + "memoryTotal": "34190917632", + "cudaCores": 21760, + "architecture": "Blackwell", + "uuid": "GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b" + } + ], + "cudaVersion": "13.0", + "writerId": "fwffq2m6l7lnkak9otliw0wenafgr4fy" +} \ No newline at end of file diff --git a/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/wandb-summary.json b/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/wandb-summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d22c99eaf2ec499dc757a74b4d326fbe4b31e8a5 --- /dev/null +++ b/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/wandb-summary.json @@ -0,0 +1 @@ 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+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) diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_122216-nfw5j147/files/config.yaml b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_122216-nfw5j147/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e41b7ea411c1a8f02900b10b508ee69ef1179255 --- /dev/null +++ b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_122216-nfw5j147/files/config.yaml @@ -0,0 +1,261 @@ +_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 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 61 + "4": 3.11.15 + "5": 0.27.0 + "6": 4.57.6 + "12": 0.27.0 + "13": linux-x86_64 +algo: + value: + beta_alpha: 1.5 + beta_beta: 1 + dense_jump_density: 2 + guidance_scale: 1 + logit_normal_loc: 0 + logit_normal_scale: 1 + num_inference_steps: 10 + ot_reg: 0.05 + path_type: linear + scheduler_type: uniform + sigma_min: 0.0001 + sigma_schedule: constant + solver_type: euler + t_max: 0.999 + time_eps: 0 +dataset: + value: + cameras: + - left + - wrist + data_dir: /home/david/Document/dataset/new_opendrawer_45_vig_dagger_th3_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 diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_122216-nfw5j147/files/output.log b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_122216-nfw5j147/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..505aa26bd78657fec8f392d65f67496f9ef96e69 --- /dev/null +++ b/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: + 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: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------------+ +| Active Event Terms in Mode: 'reset' | ++--------+----------------------------+ +| Index | Name | ++--------+----------------------------+ +| 0 | reset_all | +| 1 | reset_cabinet_position | +| 2 | reset_charger_position | ++--------+----------------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++------------------------------------------------------------+ +| Active Observation Terms in Group: 'policy' (shape: (39,)) | ++---------+----------------------------------------+---------+ +| Index | Name | Shape | ++---------+----------------------------------------+---------+ +| 0 | joint_pos | (9,) | +| 1 | joint_vel | (9,) | +| 2 | cabinet_joint_pos | (1,) | +| 3 | cabinet_joint_vel | (1,) | +| 4 | charger_pos | (3,) | +| 5 | rel_ee_drawer_distance | (3,) | +| 6 | rel_ee_charger_distance | (3,) | +| 7 | rel_charger_drawer_distance | (3,) | +| 8 | previous_action | (7,) | ++---------+----------------------------------------+---------+ ++-------------------------------------------+ +| Active Observation Terms in Group: 'pose' | ++---------+-----------------------+---------+ +| Index | Name | Shape | ++---------+-----------------------+---------+ +| 0 | ee_pose | (7,) | +| 1 | gripper_pose | (7,) | +| 2 | cabinet_pose | (7,) | +| 3 | left_table_pose | (7,) | +| 4 | charger_pose | (7,) | ++---------+-----------------------+---------+ ++--------------------------------------------------+ +| Active Observation Terms in Group: 'rgb_camera' | ++----------+-----------------+---------------------+ +| Index | Name | Shape | ++----------+-----------------+---------------------+ +| 0 | teleop_cam | (256, 256, 3) | +| 1 | left_cam | (256, 256, 3) | +| 2 | right_cam | (256, 256, 3) | +| 3 | wrist_cam | (256, 256, 3) | +| 4 | top_cam | (256, 256, 3) | ++----------+-----------------+---------------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 14 active terms. ++----------------------------------------------+ +| Active Reward Terms | ++-------+----------------------------+---------+ +| Index | Name | Weight | ++-------+----------------------------+---------+ +| 0 | approach_ee_handle | 2.0 | +| 1 | align_ee_handle | 0.5 | +| 2 | approach_gripper_handle | 5.0 | +| 3 | align_grasp_around_handle | 0.125 | +| 4 | grasp_handle | 0.5 | +| 5 | open_drawer_bonus | 7.5 | +| 6 | multi_stage_open_drawer | 1.0 | +| 7 | approach_ee_charger | 2.0 | +| 8 | lift_charger | 4.0 | +| 9 | charger_to_drawer | 6.0 | +| 10 | charger_in_drawer | 8.0 | +| 11 | close_drawer_after_charger | 10.0 | +| 12 | action_rate_l2 | -0.01 | +| 13 | joint_vel | -0.0001 | ++-------+----------------------------+---------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd0_new_opendrawer_45_vig_dagger_th3_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 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+[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 diff --git a/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_122216-nfw5j147/files/requirements.txt b/rollouts/sd0_new_opendrawer_45_vig_dagger_th3_ema8_flow_train/sd0_50_rollouts/wandb/run-20260719_122216-nfw5j147/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/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 @@ +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 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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) diff --git a/rollouts/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_003212-1x3mzda7/files/config.yaml b/rollouts/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_003212-1x3mzda7/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cef1d5271f3855cf5338f5b1d232572eca454ac2 --- /dev/null +++ b/rollouts/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_003212-1x3mzda7/files/config.yaml @@ -0,0 +1,261 @@ +_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 + 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_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 diff --git a/rollouts/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_003212-1x3mzda7/files/output.log b/rollouts/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_003212-1x3mzda7/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..2c3c2b3ece7aa6f8cb29e5a3b1478e197f1e85e1 --- /dev/null +++ b/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: + 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: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------------+ +| Active Event Terms in Mode: 'reset' | ++--------+----------------------------+ +| Index | Name | ++--------+----------------------------+ +| 0 | reset_all | +| 1 | reset_cabinet_position | +| 2 | reset_charger_position | ++--------+----------------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++------------------------------------------------------------+ +| Active Observation Terms in Group: 'policy' (shape: (39,)) | ++---------+----------------------------------------+---------+ +| Index | Name | Shape | ++---------+----------------------------------------+---------+ +| 0 | joint_pos | (9,) | +| 1 | joint_vel | (9,) | +| 2 | cabinet_joint_pos | (1,) | +| 3 | cabinet_joint_vel | (1,) | +| 4 | charger_pos | (3,) | +| 5 | rel_ee_drawer_distance | (3,) | +| 6 | rel_ee_charger_distance | (3,) | +| 7 | rel_charger_drawer_distance | (3,) | +| 8 | previous_action | (7,) | ++---------+----------------------------------------+---------+ ++-------------------------------------------+ +| Active Observation Terms in Group: 'pose' | ++---------+-----------------------+---------+ +| Index | Name | Shape | ++---------+-----------------------+---------+ +| 0 | ee_pose | (7,) | +| 1 | gripper_pose | (7,) | +| 2 | cabinet_pose | (7,) | +| 3 | left_table_pose | (7,) | +| 4 | charger_pose | (7,) | ++---------+-----------------------+---------+ ++--------------------------------------------------+ +| Active Observation Terms in Group: 'rgb_camera' | ++----------+-----------------+---------------------+ +| Index | Name | Shape | ++----------+-----------------+---------------------+ +| 0 | teleop_cam | (256, 256, 3) | +| 1 | left_cam | (256, 256, 3) | +| 2 | right_cam | (256, 256, 3) | +| 3 | wrist_cam | (256, 256, 3) | +| 4 | top_cam | (256, 256, 3) | ++----------+-----------------+---------------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 14 active terms. ++----------------------------------------------+ +| Active Reward Terms | ++-------+----------------------------+---------+ +| Index | Name | Weight | ++-------+----------------------------+---------+ +| 0 | approach_ee_handle | 2.0 | +| 1 | align_ee_handle | 0.5 | +| 2 | approach_gripper_handle | 5.0 | +| 3 | align_grasp_around_handle | 0.125 | +| 4 | grasp_handle | 0.5 | +| 5 | open_drawer_bonus | 7.5 | +| 6 | multi_stage_open_drawer | 1.0 | +| 7 | approach_ee_charger | 2.0 | +| 8 | lift_charger | 4.0 | +| 9 | charger_to_drawer | 6.0 | +| 10 | charger_in_drawer | 8.0 | +| 11 | close_drawer_after_charger | 10.0 | +| 12 | action_rate_l2 | -0.01 | +| 13 | joint_vel | -0.0001 | ++-------+----------------------------+---------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd1_new_opendrawer_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 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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 +[ckpt_step_0100000] rollout 11/50: success=False steps=1200 env=9 +[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 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 27/50: success=True steps=612 env=4 +[ckpt_step_0100000] rollout 28/50: success=True steps=505 env=5 +[ckpt_step_0100000] rollout 29/50: success=True steps=621 env=2 +[ckpt_step_0100000] rollout 30/50: success=True steps=582 env=6 +[ckpt_step_0100000] rollout 31/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 33/50: success=True steps=825 env=1 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 38/50: success=True steps=709 env=2 +[ckpt_step_0100000] rollout 39/50: success=True steps=692 env=6 +[ckpt_step_0100000] rollout 40/50: success=True steps=622 env=3 +[ckpt_step_0100000] rollout 41/50: success=True steps=676 env=9 +[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 +[ckpt_step_0100000] rollout 45/50: success=True steps=609 env=8 +[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 diff --git a/rollouts/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_003212-1x3mzda7/files/requirements.txt b/rollouts/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_003212-1x3mzda7/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd1_new_opendrawer_120_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_003212-1x3mzda7/files/requirements.txt @@ -0,0 +1,262 @@ +robopolicy==0.1.0 +psutil==5.9.8 +isaaclab_contrib==0.0.2 +pluggy==1.6.0 +isaaclab_mimic==1.0.16 +stable_baselines3==2.8.0 +Pygments==2.20.0 +typing_extensions==4.15.0 +mdurl==0.1.2 +coverage==7.4.4 +jsonschema-specifications==2025.9.1 +isaacsim-robot-setup==5.1.0.0 +cmeel-qhull==8.0.2.1 +nest-asyncio==1.5.6 +Markdown==3.10.2 +tornado==6.5.1 +gymnasium==1.2.1 +orjson==3.11.9 +moviepy==2.2.1 +pyglet==1.5.31 +isaacsim-test==5.1.0.0 +isaacsim-gui==5.1.0.0 +torch==2.7.0+cu128 +nvidia-cusolver-cu12==11.7.2.55 +isaacsim-cortex==5.1.0.0 +qrcode==7.4.2 +rpds-py==2026.5.1 +async-timeout==5.0.1 +fsspec==2026.4.0 +isaacsim-extscache-kit-sdk==5.1.0.0 +nvidia-curand-cu12==10.3.9.55 +zipp==4.1.0 +huggingface_hub==0.36.2 +importlib_metadata==9.0.0 +isaacsim-example==5.1.0.0 +setuptools==81.0.0 +networkx==3.6.1 +python-multipart==0.0.20 +ipython==9.14.0 +idna-ssl==1.1.0 +isaacsim-robot==5.1.0.0 +wcwidth==0.7.0 +referencing==0.37.0 +tokenizers==0.22.2 +osqp==0.6.7.post3 +grpcio==1.80.0 +isaacsim-core==5.1.0.0 +imageio==2.37.0 +cmeel-tinyxml==2.6.2.3 +regex==2026.5.9 +Rtree==1.3.0 +pycares==4.8.0 +torchvision==0.22.0+cu128 +starlette==0.49.1 +aiofiles==23.2.1 +cmeel-zlib==1.3.2 +packaging==23.0 +pydantic==2.11.10 +pandas==3.0.3 +pip==26.1.2 +msal==1.27.0 +comm==0.2.3 +isaacsim-sensor==5.1.0.0 +cmeel-console-bridge==1.0.2.3 +isaacsim-kernel==5.1.0.0 +anytree==2.13.0 +trimesh==4.5.1 +h11==0.16.0 +isaacsim-robot-motion==5.1.0.0 +sentry-sdk==2.29.1 +cloudpickle==3.1.2 +azure-identity==1.13.0 +toml==0.10.2 +yarl==1.18.3 +msal-extensions==1.0.0 +scipy==1.15.3 +boto3==1.39.11 +pydantic_core==2.33.2 +charset-normalizer==3.3.2 +isaacsim-storage==5.1.0.0 +typing-inspection==0.4.2 +uvicorn==0.29.0 +frozenlist==1.5.0 +tomli==2.4.1 +aiohappyeyeballs==2.4.4 +aiosignal==1.3.2 +pytz==2024.1 +isaaclab==0.54.3 +eigenpy==3.5.1 +quadprog==0.1.13 +python-dateutil==2.9.0.post0 +rl_games==1.6.1 +awscrt==0.23.8 +nvidia-cusparse-cu12==12.5.7.53 +markdown-it-py==4.2.0 +pytest==9.0.3 +jupyterlab_widgets==3.0.16 +websockets==12.0 +isaacsim-code-editor==5.1.0.0 +pexpect==4.9.0 +rich==15.0.0 +isaaclab_assets==0.2.4 +aioitertools==0.11.0 +isaacsim-template==5.1.0.0 +platformdirs==4.10.0 +tensorboardX==2.6.5 +hidapi==0.14.0.post2 +cmeel-boost==1.83.0 +aiohttp==3.11.11 +pyperclip==1.8.0 +prettytable==3.3.0 +pyvers==0.2.2 +filelock==3.29.0 +requests==2.32.3 +isaacsim-app==5.1.0.0 +Werkzeug==3.1.8 +nvidia-cuda-cupti-cu12==12.8.57 +nlopt==2.7.1 +onnx==1.21.0 +onnxscript==0.7.0 +ipython_pygments_lexers==1.1.1 +absl-py==2.4.0 +isaacsim==5.1.0.0 +aiodns==3.1.1 +tensorboard==2.20.0 +gym==0.23.1 +isaacsim-rl==5.1.0.0 +python-dotenv==1.2.2 +hydra-core==1.3.2 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 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stage_charger_picked=0.8800(44/50) stage_charger_placed=0.8400(42/50) stage_drawer_closed=0.8200(41/50) stage_drawer_opened_conditional=0.9600(48/50) stage_charger_picked_conditional=0.9167(44/48) stage_charger_placed_conditional=0.9545(42/44) stage_drawer_closed_conditional=0.9762(41/42) diff --git a/rollouts/sd1_new_opendrawer_220_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_124906-ffk4vak7/files/config.yaml b/rollouts/sd1_new_opendrawer_220_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_124906-ffk4vak7/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f7a2e7cc6e72195895f212d75a0ef9abccbbdab7 --- /dev/null +++ b/rollouts/sd1_new_opendrawer_220_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_124906-ffk4vak7/files/config.yaml @@ -0,0 +1,261 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + higdvv6sp9hiw49sq18zd4db1g28g13p: + 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_220_vig_dagger_th3_flow_train/checkpoints + - -o + - output_name=sd1_50_rollouts + - -o + - wandb_run_name=sd1_new_opendrawer_220_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: "930321797120" + 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_220_vig_dagger_th3_flow_train/sd1_50_rollouts + startedAt: "2026-08-12T19:49:06.339307Z" + writerId: higdvv6sp9hiw49sq18zd4db1g28g13p + 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_220_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_220_vig_dagger_th3_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_dagger + run_name: sd1_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: + - 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_220_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 diff --git a/rollouts/sd1_new_opendrawer_220_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_124906-ffk4vak7/files/output.log b/rollouts/sd1_new_opendrawer_220_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_124906-ffk4vak7/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..36993dbcaf605dc775173c065e1b1f4541c89d33 --- /dev/null +++ b/rollouts/sd1_new_opendrawer_220_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_124906-ffk4vak7/files/output.log @@ -0,0 +1,379 @@ +[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_12-49-07.log +======================================================================================================== + +12:49:07 [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 +12:49:07 [xform_prim_view.py] WARNING: Fabric mode with Warp fabric-array operations is not supported on CPU devices. While Fabric itself can run on both CPU and GPU, our batch Warp kernels for fabric-array operations require CUDA and are not reliable on the CPU backend. To ensure stability, Fabric is being disabled and execution will fall back to standard USD operations on the CPU. This may impact performance. +[INFO]: Time taken for scene creation : 0.522940 seconds +[INFO]: Scene manager: + Number of environments: 10 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : ['/World/GroundPlane'] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +[INFO]: Time taken for simulation start : 3.607035 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------------+ +| Active Event Terms in Mode: 'reset' | ++--------+----------------------------+ +| Index | Name | ++--------+----------------------------+ +| 0 | reset_all | +| 1 | reset_cabinet_position | +| 2 | reset_charger_position | ++--------+----------------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++------------------------------------------------------------+ +| Active Observation Terms in Group: 'policy' (shape: (39,)) | ++---------+----------------------------------------+---------+ +| Index | Name | Shape | ++---------+----------------------------------------+---------+ +| 0 | joint_pos | (9,) | +| 1 | joint_vel | (9,) | +| 2 | cabinet_joint_pos | (1,) | +| 3 | cabinet_joint_vel | (1,) | +| 4 | charger_pos | (3,) | +| 5 | rel_ee_drawer_distance | (3,) | +| 6 | rel_ee_charger_distance | (3,) | +| 7 | rel_charger_drawer_distance | (3,) | +| 8 | previous_action | (7,) | ++---------+----------------------------------------+---------+ ++-------------------------------------------+ +| Active Observation Terms in Group: 'pose' | ++---------+-----------------------+---------+ +| Index | Name | Shape | ++---------+-----------------------+---------+ +| 0 | ee_pose | (7,) | +| 1 | gripper_pose | (7,) | +| 2 | cabinet_pose | (7,) | +| 3 | left_table_pose | (7,) | +| 4 | charger_pose | (7,) | ++---------+-----------------------+---------+ ++--------------------------------------------------+ +| Active Observation Terms in Group: 'rgb_camera' | ++----------+-----------------+---------------------+ +| Index | Name | Shape | ++----------+-----------------+---------------------+ +| 0 | teleop_cam | (256, 256, 3) | +| 1 | left_cam | (256, 256, 3) | +| 2 | right_cam | (256, 256, 3) | +| 3 | wrist_cam | (256, 256, 3) | +| 4 | top_cam | (256, 256, 3) | ++----------+-----------------+---------------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 14 active terms. ++----------------------------------------------+ +| Active Reward Terms | ++-------+----------------------------+---------+ +| Index | Name | Weight | ++-------+----------------------------+---------+ +| 0 | approach_ee_handle | 2.0 | +| 1 | align_ee_handle | 0.5 | +| 2 | approach_gripper_handle | 5.0 | +| 3 | align_grasp_around_handle | 0.125 | +| 4 | grasp_handle | 0.5 | +| 5 | open_drawer_bonus | 7.5 | +| 6 | multi_stage_open_drawer | 1.0 | +| 7 | approach_ee_charger | 2.0 | +| 8 | lift_charger | 4.0 | +| 9 | charger_to_drawer | 6.0 | +| 10 | charger_in_drawer | 8.0 | +| 11 | close_drawer_after_charger | 10.0 | +| 12 | action_rate_l2 | -0.01 | +| 13 | joint_vel | -0.0001 | ++-------+----------------------------+---------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd1_new_opendrawer_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 [5, 7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger 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stage 4 drawer closed with charger inside 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 [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 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 [8] +[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 [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[ckpt_step_0100000] rollout 1/50: success=True steps=463 env=5 +[ckpt_step_0100000] rollout 2/50: success=True steps=486 env=4 +[ckpt_step_0100000] rollout 3/50: success=True steps=511 env=0 +[ckpt_step_0100000] rollout 4/50: success=True steps=652 env=1 +[ckpt_step_0100000] rollout 5/50: success=True steps=666 env=2 +[ckpt_step_0100000] rollout 6/50: success=True steps=670 env=3 +[ckpt_step_0100000] rollout 7/50: success=True steps=597 env=4 +[ckpt_step_0100000] rollout 8/50: success=True steps=574 env=0 +[ckpt_step_0100000] rollout 9/50: success=True steps=647 env=5 +[ckpt_step_0100000] rollout 10/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 11/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 12/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 14/50: success=True steps=590 env=2 +[ckpt_step_0100000] rollout 15/50: success=True steps=663 env=3 +[ckpt_step_0100000] rollout 16/50: success=True steps=533 env=0 +[ckpt_step_0100000] rollout 17/50: success=True steps=606 env=4 +[ckpt_step_0100000] rollout 18/50: success=True steps=580 env=9 +[ckpt_step_0100000] rollout 19/50: success=True steps=595 env=8 +[ckpt_step_0100000] rollout 20/50: success=True steps=501 env=3 +[ckpt_step_0100000] rollout 21/50: success=True steps=728 env=5 +[ckpt_step_0100000] rollout 22/50: success=True steps=642 env=6 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 24/50: success=True steps=665 env=7 +[ckpt_step_0100000] rollout 25/50: success=True steps=580 env=0 +[ckpt_step_0100000] rollout 26/50: success=True steps=572 env=4 +[ckpt_step_0100000] rollout 27/50: success=True steps=514 env=3 +[ckpt_step_0100000] rollout 28/50: success=True steps=624 env=9 +[ckpt_step_0100000] rollout 29/50: success=True steps=595 env=1 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 31/50: success=True steps=645 env=7 +[ckpt_step_0100000] rollout 32/50: success=True steps=786 env=8 +[ckpt_step_0100000] rollout 33/50: success=True steps=769 env=6 +[ckpt_step_0100000] rollout 34/50: success=True steps=647 env=0 +[ckpt_step_0100000] rollout 35/50: success=True steps=606 env=4 +[ckpt_step_0100000] rollout 36/50: success=True steps=646 env=3 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 38/50: success=True steps=554 env=7 +[ckpt_step_0100000] rollout 39/50: success=True steps=721 env=2 +[ckpt_step_0100000] rollout 40/50: success=True steps=629 env=6 +[ckpt_step_0100000] rollout 41/50: success=True steps=674 env=8 +[ckpt_step_0100000] rollout 42/50: success=True steps=605 env=3 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 45/50: success=True steps=822 env=0 +[ckpt_step_0100000] rollout 46/50: success=True steps=656 env=7 +[ckpt_step_0100000] rollout 47/50: success=True steps=889 env=4 +[ckpt_step_0100000] rollout 48/50: success=True steps=578 env=8 +[ckpt_step_0100000] rollout 49/50: success=True steps=595 env=6 +[ckpt_step_0100000] rollout 50/50: success=True steps=517 env=3 diff --git a/rollouts/sd1_new_opendrawer_220_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_124906-ffk4vak7/files/requirements.txt b/rollouts/sd1_new_opendrawer_220_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_124906-ffk4vak7/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd1_new_opendrawer_220_vig_dagger_th3_flow_train/sd1_50_rollouts/wandb/run-20260812_124906-ffk4vak7/files/requirements.txt @@ -0,0 +1,262 @@ +robopolicy==0.1.0 +psutil==5.9.8 +isaaclab_contrib==0.0.2 +pluggy==1.6.0 +isaaclab_mimic==1.0.16 +stable_baselines3==2.8.0 +Pygments==2.20.0 +typing_extensions==4.15.0 +mdurl==0.1.2 +coverage==7.4.4 +jsonschema-specifications==2025.9.1 +isaacsim-robot-setup==5.1.0.0 +cmeel-qhull==8.0.2.1 +nest-asyncio==1.5.6 +Markdown==3.10.2 +tornado==6.5.1 +gymnasium==1.2.1 +orjson==3.11.9 +moviepy==2.2.1 +pyglet==1.5.31 +isaacsim-test==5.1.0.0 +isaacsim-gui==5.1.0.0 +torch==2.7.0+cu128 +nvidia-cusolver-cu12==11.7.2.55 +isaacsim-cortex==5.1.0.0 +qrcode==7.4.2 +rpds-py==2026.5.1 +async-timeout==5.0.1 +fsspec==2026.4.0 +isaacsim-extscache-kit-sdk==5.1.0.0 +nvidia-curand-cu12==10.3.9.55 +zipp==4.1.0 +huggingface_hub==0.36.2 +importlib_metadata==9.0.0 +isaacsim-example==5.1.0.0 +setuptools==81.0.0 +networkx==3.6.1 +python-multipart==0.0.20 +ipython==9.14.0 +idna-ssl==1.1.0 +isaacsim-robot==5.1.0.0 +wcwidth==0.7.0 +referencing==0.37.0 +tokenizers==0.22.2 +osqp==0.6.7.post3 +grpcio==1.80.0 +isaacsim-core==5.1.0.0 +imageio==2.37.0 +cmeel-tinyxml==2.6.2.3 +regex==2026.5.9 +Rtree==1.3.0 +pycares==4.8.0 +torchvision==0.22.0+cu128 +starlette==0.49.1 +aiofiles==23.2.1 +cmeel-zlib==1.3.2 +packaging==23.0 +pydantic==2.11.10 +pandas==3.0.3 +pip==26.1.2 +msal==1.27.0 +comm==0.2.3 +isaacsim-sensor==5.1.0.0 +cmeel-console-bridge==1.0.2.3 +isaacsim-kernel==5.1.0.0 +anytree==2.13.0 +trimesh==4.5.1 +h11==0.16.0 +isaacsim-robot-motion==5.1.0.0 +sentry-sdk==2.29.1 +cloudpickle==3.1.2 +azure-identity==1.13.0 +toml==0.10.2 +yarl==1.18.3 +msal-extensions==1.0.0 +scipy==1.15.3 +boto3==1.39.11 +pydantic_core==2.33.2 +charset-normalizer==3.3.2 +isaacsim-storage==5.1.0.0 +typing-inspection==0.4.2 +uvicorn==0.29.0 +frozenlist==1.5.0 +tomli==2.4.1 +aiohappyeyeballs==2.4.4 +aiosignal==1.3.2 +pytz==2024.1 +isaaclab==0.54.3 +eigenpy==3.5.1 +quadprog==0.1.13 +python-dateutil==2.9.0.post0 +rl_games==1.6.1 +awscrt==0.23.8 +nvidia-cusparse-cu12==12.5.7.53 +markdown-it-py==4.2.0 +pytest==9.0.3 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stage_charger_picked=0.4600(23/50) stage_charger_placed=0.3600(18/50) stage_drawer_closed=0.3000(15/50) stage_drawer_opened_conditional=0.8200(41/50) stage_charger_picked_conditional=0.5610(23/41) stage_charger_placed_conditional=0.7826(18/23) stage_drawer_closed_conditional=0.8333(15/18) diff --git a/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_013957-r80h5qi7/files/config.yaml b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_013957-r80h5qi7/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8f559330a19b71ac57e1f2e3e429562dec401066 --- /dev/null +++ b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_013957-r80h5qi7/files/config.yaml @@ -0,0 +1,261 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + y40m7qe4zx3rgqv0xm2q0d7nszs0jd0d: + args: + - --config + - /home/david/Document/robopolicy/scripts/eval/roboticarmsim_eval_config.json + - -o + - horizon=1200 + - -o + - seed=0 + - -o + - num_rollouts=50 + - -o + - checkpoint_dir=/home/david/Document/robopolicy/runs/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd1_new_opendrawer_30_vig_dagger_th3_ema5_eval_sd0_50_rollouts + codePath: scripts/eval/roboticsarmsim_eval.py + codePathLocal: scripts/eval/roboticsarmsim_eval.py + cpu_count: 16 + cpu_count_logical: 32 + cudaVersion: "13.0" + disk: + /: + total: "1081101176832" + used: "888100491264" + 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/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts + startedAt: "2026-07-17T08:39:57.836201Z" + writerId: y40m7qe4zx3rgqv0xm2q0d7nszs0jd0d + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 61 + "4": 3.11.15 + "5": 0.27.0 + "6": 4.57.6 + "12": 0.27.0 + "13": linux-x86_64 +algo: + value: + beta_alpha: 1.5 + beta_beta: 1 + dense_jump_density: 2 + guidance_scale: 1 + logit_normal_loc: 0 + logit_normal_scale: 1 + num_inference_steps: 10 + ot_reg: 0.05 + path_type: linear + scheduler_type: uniform + sigma_min: 0.0001 + sigma_schedule: constant + solver_type: euler + t_max: 0.999 + time_eps: 0 +dataset: + value: + cameras: + - left + - wrist + data_dir: /home/david/Document/dataset/new_opendrawer_30_vig_dagger_th3_ema5_split_sd1 + loader: + batch_size: 128 + num_workers: 8 + prefetch_factor: 4 + sampling: + active_window_shards: 20 + frame_cache_max_entries: 12000 + k_passes: 8 + locality_block_size: 64 + log_stall_ms: 0 + predecode_next_block: true + profile_every_samples: 500 + profile_timing: false + split: + min_val_demos: 2 + split_seed: 1 + val_fraction: 0.02 + task_filter: + exclude_task_slugs: [] + include_task_slugs: [] +feature: + value: + features: + - camera_names: [] + future: 15 + history: 0 + key: actions + paths: + - actions + shape: + - 7 + source_type: hdf5 + - camera_names: [] + future: 0 + history: 0 + key: state + paths: + - obs/robot0_eef_pos + - obs/robot0_eef_quat + - obs/robot0_gripper_qpos + shape: + - 9 + source_type: hdf5 + - camera_names: + - left + - wrist + future: 0 + history: 0 + key: images + paths: [] + shape: + - 3 + - 256 + - 256 + source_type: video +logging: + value: + out_dir: runs/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_dagger + run_name: sd1_new_opendrawer_30_vig_dagger_th3_ema5 +model: + value: + bc_mlp_hidden_dims: + - 512 + - 512 + camera_feature_combine: concat + crop: true + crop_is_random: true + crop_size: 224 + direct_select_use_task_emb: true + down_dims: + - 128 + - 256 + - 512 + env_entity_dim: 7 + env_num_entities: 6 + env_state_mode: attention_pool + env_token_embed_dim: 256 + freeze_vision_backbone: true + fusion_dropout: 0.1 + fusion_ff_dim: 256 + fusion_mask_type: none + fusion_num_heads: 8 + fusion_num_layers: 4 + image_size: 224 + kernel_size: 5 + n_groups: 8 + num_query_tokens: 2 + pooled_dim: 64 + raw_image_size: 256 + time_embed_dim: 128 + use_film_scale_modulation: true + vision_model_size: small +processor: + value: + add_task_indices: true + container_to_idx: + bin: 0 + cup: 1 + plate: 2 + normalization_type: minmax + normalize_actions: true + normalize_states: true + obj_to_idx: + cross: 0 + cube: 1 + cylinder: 2 + stats_cache_path: "" +roboticsarmsim_eval: + value: + actions_per_step: 8 + checkpoint_dir: /home/david/Document/robopolicy/runs/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/checkpoints + disable_fabric: false + env_spacing: 10 + horizon: 1200 + num_envs: 10 + num_rollouts: 50 + output_name: sd0_50_rollouts + policy_image_downsample_factor: 1 + seed: 0 + task: OpenDrawer-ManagerBased-v0 + task_module: RoboticArmSim.tasks + video: true + video_cameras: + - left + - wrist + vig: false + vig_action_factor: 1 + vig_action_sample_index: 0 + vig_decision_cadence: chunk + vig_factors: + - 1 + - 2 + - 4 + - 8 + vig_feature: full_flat + vig_first_k: 16 + vig_k: 8 + vig_num_samples: 32 + vig_threshold: 0.03 +train: + value: + amp: false + device: "" + eval_best_of_k: 4 + eval_every: 500 + eval_num_batches: 10 + grad_clip_norm: 1 + log_every: 500 + lr: 0.0001 + lr_schedule: + min_lr_ratio: 0.0001 + type: cosine + warmup_steps: 1000 + num_data_warmup: 50 + num_steps: 100000 + save_every: 10000 + seed: 1 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_013957-r80h5qi7/files/output.log b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_013957-r80h5qi7/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..03fc7b894dc0090d167047bb23b7bde1ad9c3fbb --- /dev/null +++ b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_013957-r80h5qi7/files/output.log @@ -0,0 +1,295 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +======================================================================================================== +[INFO][IsaacLab]: Logging to file: /home/david/.cache/tmp/isaaclab/logs/isaaclab_2026-07-17_01-39-58.log +======================================================================================================== + +01:39:58 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : None + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.016666666666666666 + Environment step-size : 0.016666666666666666 +01:39:59 [xform_prim_view.py] WARNING: Fabric mode with Warp fabric-array operations is not supported on CPU devices. While Fabric itself can run on both CPU and GPU, our batch Warp kernels for fabric-array operations require CUDA and are not reliable on the CPU backend. To ensure stability, Fabric is being disabled and execution will fall back to standard USD operations on the CPU. This may impact performance. +[INFO]: Time taken for scene creation : 0.545390 seconds +[INFO]: Scene manager: + Number of environments: 10 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : ['/World/GroundPlane'] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +[INFO]: Time taken for simulation start : 4.223441 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------------+ +| Active Event Terms in Mode: 'reset' | ++--------+----------------------------+ +| Index | Name | ++--------+----------------------------+ +| 0 | reset_all | +| 1 | reset_cabinet_position | +| 2 | reset_charger_position | ++--------+----------------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++------------------------------------------------------------+ +| Active Observation Terms in Group: 'policy' (shape: (39,)) | ++---------+----------------------------------------+---------+ +| Index | Name | Shape | ++---------+----------------------------------------+---------+ +| 0 | joint_pos | (9,) | +| 1 | joint_vel | (9,) | +| 2 | cabinet_joint_pos | (1,) | +| 3 | cabinet_joint_vel | (1,) | +| 4 | charger_pos | (3,) | +| 5 | rel_ee_drawer_distance | (3,) | +| 6 | rel_ee_charger_distance | (3,) | +| 7 | rel_charger_drawer_distance | (3,) | +| 8 | previous_action | (7,) | ++---------+----------------------------------------+---------+ ++-------------------------------------------+ +| Active Observation Terms in Group: 'pose' | ++---------+-----------------------+---------+ +| Index | Name | Shape | ++---------+-----------------------+---------+ +| 0 | ee_pose | (7,) | +| 1 | gripper_pose | (7,) | +| 2 | cabinet_pose | (7,) | +| 3 | left_table_pose | (7,) | +| 4 | charger_pose | (7,) | ++---------+-----------------------+---------+ ++--------------------------------------------------+ +| Active Observation Terms in Group: 'rgb_camera' | ++----------+-----------------+---------------------+ +| Index | Name | Shape | ++----------+-----------------+---------------------+ +| 0 | teleop_cam | (256, 256, 3) | +| 1 | left_cam | (256, 256, 3) | +| 2 | right_cam | (256, 256, 3) | +| 3 | wrist_cam | (256, 256, 3) | +| 4 | top_cam | (256, 256, 3) | ++----------+-----------------+---------------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 14 active terms. ++----------------------------------------------+ +| Active Reward Terms | ++-------+----------------------------+---------+ +| Index | Name | Weight | ++-------+----------------------------+---------+ +| 0 | approach_ee_handle | 2.0 | +| 1 | align_ee_handle | 0.5 | +| 2 | approach_gripper_handle | 5.0 | +| 3 | align_grasp_around_handle | 0.125 | +| 4 | grasp_handle | 0.5 | +| 5 | open_drawer_bonus | 7.5 | +| 6 | multi_stage_open_drawer | 1.0 | +| 7 | approach_ee_charger | 2.0 | +| 8 | lift_charger | 4.0 | +| 9 | charger_to_drawer | 6.0 | +| 10 | charger_in_drawer | 8.0 | +| 11 | close_drawer_after_charger | 10.0 | +| 12 | action_rate_l2 | -0.01 | +| 13 | joint_vel | -0.0001 | ++-------+----------------------------+---------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +[extract_model_images] camera_names=['left', 'wrist'] per_camera_shapes=[(10, 3, 256, 256), (10, 3, 256, 256)] return_shape=(10, 2, 3, 256, 256) dtype=torch.uint8 +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5, 6] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1, 4] +[OpenDrawer] stage 1 drawer opened success reached for envs [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 [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [0] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[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 [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[ckpt_step_0100000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 11/50: success=True steps=598 env=7 +[ckpt_step_0100000] rollout 12/50: success=True steps=652 env=8 +[ckpt_step_0100000] rollout 13/50: success=True steps=693 env=4 +[ckpt_step_0100000] rollout 14/50: success=True steps=702 env=3 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 21/50: success=True steps=815 env=8 +[ckpt_step_0100000] rollout 22/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 25/50: success=True steps=749 env=2 +[ckpt_step_0100000] rollout 26/50: success=True steps=921 env=0 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 31/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 32/50: success=True steps=750 env=2 +[ckpt_step_0100000] rollout 33/50: success=True steps=677 env=0 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 35/50: success=True steps=643 env=5 +[ckpt_step_0100000] rollout 36/50: success=True steps=686 env=9 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 39/50: success=True steps=631 env=2 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 41/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 42/50: success=True steps=688 env=5 +[ckpt_step_0100000] rollout 43/50: success=True steps=717 env=9 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 49/50: success=True steps=624 env=8 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=2 diff --git a/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_013957-r80h5qi7/files/requirements.txt b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_013957-r80h5qi7/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd1_new_opendrawer_30_vig_dagger_th3_ema5_flow_train/sd0_50_rollouts/wandb/run-20260717_013957-r80h5qi7/files/requirements.txt @@ -0,0 +1,262 @@ +robopolicy==0.1.0 +psutil==5.9.8 +isaaclab_contrib==0.0.2 +pluggy==1.6.0 +isaaclab_mimic==1.0.16 +stable_baselines3==2.8.0 +Pygments==2.20.0 +typing_extensions==4.15.0 +mdurl==0.1.2 +coverage==7.4.4 +jsonschema-specifications==2025.9.1 +isaacsim-robot-setup==5.1.0.0 +cmeel-qhull==8.0.2.1 +nest-asyncio==1.5.6 +Markdown==3.10.2 +tornado==6.5.1 +gymnasium==1.2.1 +orjson==3.11.9 +moviepy==2.2.1 +pyglet==1.5.31 +isaacsim-test==5.1.0.0 +isaacsim-gui==5.1.0.0 +torch==2.7.0+cu128 +nvidia-cusolver-cu12==11.7.2.55 +isaacsim-cortex==5.1.0.0 +qrcode==7.4.2 +rpds-py==2026.5.1 +async-timeout==5.0.1 +fsspec==2026.4.0 +isaacsim-extscache-kit-sdk==5.1.0.0 +nvidia-curand-cu12==10.3.9.55 +zipp==4.1.0 +huggingface_hub==0.36.2 +importlib_metadata==9.0.0 +isaacsim-example==5.1.0.0 +setuptools==81.0.0 +networkx==3.6.1 +python-multipart==0.0.20 +ipython==9.14.0 +idna-ssl==1.1.0 +isaacsim-robot==5.1.0.0 +wcwidth==0.7.0 +referencing==0.37.0 +tokenizers==0.22.2 +osqp==0.6.7.post3 +grpcio==1.80.0 +isaacsim-core==5.1.0.0 +imageio==2.37.0 +cmeel-tinyxml==2.6.2.3 +regex==2026.5.9 +Rtree==1.3.0 +pycares==4.8.0 +torchvision==0.22.0+cu128 +starlette==0.49.1 +aiofiles==23.2.1 +cmeel-zlib==1.3.2 +packaging==23.0 +pydantic==2.11.10 +pandas==3.0.3 +pip==26.1.2 +msal==1.27.0 +comm==0.2.3 +isaacsim-sensor==5.1.0.0 +cmeel-console-bridge==1.0.2.3 +isaacsim-kernel==5.1.0.0 +anytree==2.13.0 +trimesh==4.5.1 +h11==0.16.0 +isaacsim-robot-motion==5.1.0.0 +sentry-sdk==2.29.1 +cloudpickle==3.1.2 +azure-identity==1.13.0 +toml==0.10.2 +yarl==1.18.3 +msal-extensions==1.0.0 +scipy==1.15.3 +boto3==1.39.11 +pydantic_core==2.33.2 +charset-normalizer==3.3.2 +isaacsim-storage==5.1.0.0 +typing-inspection==0.4.2 +uvicorn==0.29.0 +frozenlist==1.5.0 +tomli==2.4.1 +aiohappyeyeballs==2.4.4 +aiosignal==1.3.2 +pytz==2024.1 +isaaclab==0.54.3 +eigenpy==3.5.1 +quadprog==0.1.13 +python-dateutil==2.9.0.post0 +rl_games==1.6.1 +awscrt==0.23.8 +nvidia-cusparse-cu12==12.5.7.53 +markdown-it-py==4.2.0 +pytest==9.0.3 +jupyterlab_widgets==3.0.16 +websockets==12.0 +isaacsim-code-editor==5.1.0.0 +pexpect==4.9.0 +rich==15.0.0 +isaaclab_assets==0.2.4 +aioitertools==0.11.0 +isaacsim-template==5.1.0.0 +platformdirs==4.10.0 +tensorboardX==2.6.5 +hidapi==0.14.0.post2 +cmeel-boost==1.83.0 +aiohttp==3.11.11 +pyperclip==1.8.0 +prettytable==3.3.0 +pyvers==0.2.2 +filelock==3.29.0 +requests==2.32.3 +isaacsim-app==5.1.0.0 +Werkzeug==3.1.8 +nvidia-cuda-cupti-cu12==12.8.57 +nlopt==2.7.1 +onnx==1.21.0 +onnxscript==0.7.0 +ipython_pygments_lexers==1.1.1 +absl-py==2.4.0 +isaacsim==5.1.0.0 +aiodns==3.1.1 +tensorboard==2.20.0 +gym==0.23.1 +isaacsim-rl==5.1.0.0 +python-dotenv==1.2.2 +hydra-core==1.3.2 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 +gunicorn==23.0.0 +transformers==4.57.6 +omegaconf==2.3.0 +contourpy==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +azure-storage-blob==12.17.0 +ray==2.52.1 +tqdm==4.67.3 +PyYAML==6.0.2 +qdldl==0.1.7.post5 +gitdb==4.0.12 +qpsolvers==4.12.0 +wheel==0.47.0 +fastapi==0.115.7 +nvidia-cudnn-cu12==9.7.1.26 +sympy==1.14.0 +kiwisolver==1.4.4 +isaacsim-ros2==5.1.0.0 +nvidia-cuda-nvrtc-cu12==12.8.61 +aioboto3==15.1.0 +wandb==0.27.0 +numpy==1.26.4 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end of file diff --git a/rollouts/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/results.txt b/rollouts/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/results.txt new file mode 100644 index 0000000000000000000000000000000000000000..5a8ac630178c31dbe440b03ae374ee56fe9471de --- /dev/null +++ b/rollouts/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/results.txt @@ -0,0 +1,4 @@ +task=OpenDrawer-ManagerBased-v0 +num_checkpoints=1 + +ckpt_step_0100000: step=100000 success_rate=0.2400 success_count=12/50 mean_episode_length=1081.96 stage_drawer_opened=0.9000(45/50) stage_charger_picked=0.3200(16/50) stage_charger_placed=0.2800(14/50) stage_drawer_closed=0.2400(12/50) stage_drawer_opened_conditional=0.9000(45/50) stage_charger_picked_conditional=0.3556(16/45) stage_charger_placed_conditional=0.8750(14/16) stage_drawer_closed_conditional=0.8571(12/14) diff --git a/rollouts/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_082943-2y53gx4r/files/config.yaml b/rollouts/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_082943-2y53gx4r/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..67ca872830be32312e53254fe903ef38f1363f12 --- /dev/null +++ b/rollouts/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_082943-2y53gx4r/files/config.yaml @@ -0,0 +1,247 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + 3c608u35efg5odo99ews3ptld7jzp8xv: + 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_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd1_new_opendrawer_70_stage_2_50_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: "734401216512" + email: chengenwu@berkeley.edu + executable: /home/david/Document/env_isaaclab/bin/python + git: + commit: d323bc5b083a667adf8a659e6a042c0f96948892 + remote: git@github.com:YixiaoWang7/robopolicy.git + gpu: NVIDIA GeForce RTX 5090 + gpu_count: 1 + gpu_nvidia: + - architecture: Blackwell + cudaCores: 21760 + memoryTotal: "34190917632" + name: NVIDIA GeForce RTX 5090 + uuid: GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b + host: yixiao-G914 + memory: + total: "65677729792" + os: Linux-7.0.0-22-generic-x86_64-with-glibc2.43 + program: /home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py + python: CPython 3.11.15 + root: /home/david/Document/robopolicy/runs/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts + startedAt: "2026-06-28T15:29:43.647730Z" + writerId: 3c608u35efg5odo99ews3ptld7jzp8xv + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 61 + "4": 3.11.15 + "5": 0.27.0 + "6": 4.57.6 + "12": 0.27.0 + "13": linux-x86_64 +algo: + value: + beta_alpha: 1.5 + beta_beta: 1 + dense_jump_density: 2 + guidance_scale: 1 + logit_normal_loc: 0 + logit_normal_scale: 1 + num_inference_steps: 10 + ot_reg: 0.05 + path_type: linear + scheduler_type: uniform + sigma_min: 0.0001 + sigma_schedule: constant + solver_type: euler + t_max: 0.999 + time_eps: 0 +dataset: + value: + cameras: + - left + - wrist + data_dir: /home/david/Document/dataset/new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5 + loader: + batch_size: 128 + num_workers: 8 + prefetch_factor: 4 + sampling: + active_window_shards: 20 + frame_cache_max_entries: 12000 + k_passes: 8 + locality_block_size: 64 + log_stall_ms: 0 + predecode_next_block: true + profile_every_samples: 500 + profile_timing: false + split: + min_val_demos: 2 + split_seed: 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_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_flow_lff + run_name: sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5 +model: + value: + bc_mlp_hidden_dims: + - 512 + - 512 + camera_feature_combine: concat + crop: true + crop_is_random: true + crop_size: 224 + direct_select_use_task_emb: true + down_dims: + - 128 + - 256 + - 512 + env_entity_dim: 7 + env_num_entities: 6 + env_state_mode: attention_pool + env_token_embed_dim: 256 + freeze_vision_backbone: true + fusion_dropout: 0.1 + fusion_ff_dim: 256 + fusion_mask_type: none + fusion_num_heads: 8 + fusion_num_layers: 4 + image_size: 224 + kernel_size: 5 + n_groups: 8 + num_query_tokens: 2 + pooled_dim: 64 + raw_image_size: 256 + time_embed_dim: 128 + use_film_scale_modulation: true + vision_model_size: small +processor: + value: + add_task_indices: true + container_to_idx: + bin: 0 + cup: 1 + plate: 2 + normalization_type: minmax + normalize_actions: true + normalize_states: true + obj_to_idx: + cross: 0 + cube: 1 + cylinder: 2 + stats_cache_path: "" +roboticsarmsim_eval: + value: + actions_per_step: 8 + checkpoint_dir: /home/david/Document/robopolicy/runs/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/checkpoints + disable_fabric: false + env_spacing: 10 + horizon: 1200 + num_envs: 10 + num_rollouts: 50 + output_name: sd0_50_rollouts + policy_image_downsample_factor: 1 + seed: 0 + task: OpenDrawer-ManagerBased-v0 + task_module: RoboticArmSim.tasks + video: true + video_cameras: + - left + - wrist +train: + value: + amp: false + device: "" + eval_best_of_k: 4 + eval_every: 500 + eval_num_batches: 10 + grad_clip_norm: 1 + log_every: 500 + lr: 0.0001 + lr_schedule: + min_lr_ratio: 0.0001 + type: cosine + warmup_steps: 1000 + num_data_warmup: 50 + num_steps: 100000 + save_every: 10000 + seed: 1 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_082943-2y53gx4r/files/output.log b/rollouts/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_082943-2y53gx4r/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..7dccb6b76332c08cd436b9c9b2e04dea4ee23c20 --- /dev/null +++ b/rollouts/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_082943-2y53gx4r/files/output.log @@ -0,0 +1,286 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-28_08-29-44.log +====================================================================================== + +08:29:44 [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 +08:29:45 [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 : 0.540049 seconds +[INFO]: Scene manager: + Number of environments: 10 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : ['/World/GroundPlane'] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +[INFO]: Time taken for simulation start : 4.235510 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------------+ +| Active Event Terms in Mode: 'reset' | ++--------+----------------------------+ +| Index | Name | ++--------+----------------------------+ +| 0 | reset_all | +| 1 | reset_cabinet_position | +| 2 | reset_charger_position | ++--------+----------------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++------------------------------------------------------------+ +| Active Observation Terms in Group: 'policy' (shape: (39,)) | ++---------+----------------------------------------+---------+ +| Index | Name | Shape | ++---------+----------------------------------------+---------+ +| 0 | joint_pos | (9,) | +| 1 | joint_vel | (9,) | +| 2 | cabinet_joint_pos | (1,) | +| 3 | cabinet_joint_vel | (1,) | +| 4 | charger_pos | (3,) | +| 5 | rel_ee_drawer_distance | (3,) | +| 6 | rel_ee_charger_distance | (3,) | +| 7 | rel_charger_drawer_distance | (3,) | +| 8 | previous_action | (7,) | ++---------+----------------------------------------+---------+ ++-------------------------------------------+ +| Active Observation Terms in Group: 'pose' | ++---------+-----------------------+---------+ +| Index | Name | Shape | ++---------+-----------------------+---------+ +| 0 | ee_pose | (7,) | +| 1 | gripper_pose | (7,) | +| 2 | cabinet_pose | (7,) | +| 3 | left_table_pose | (7,) | +| 4 | charger_pose | (7,) | ++---------+-----------------------+---------+ ++--------------------------------------------------+ +| Active Observation Terms in Group: 'rgb_camera' | ++----------+-----------------+---------------------+ +| Index | Name | Shape | ++----------+-----------------+---------------------+ +| 0 | teleop_cam | (256, 256, 3) | +| 1 | left_cam | (256, 256, 3) | +| 2 | right_cam | (256, 256, 3) | +| 3 | wrist_cam | (256, 256, 3) | +| 4 | top_cam | (256, 256, 3) | ++----------+-----------------+---------------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 14 active terms. ++----------------------------------------------+ +| Active Reward Terms | ++-------+----------------------------+---------+ +| Index | Name | Weight | ++-------+----------------------------+---------+ +| 0 | approach_ee_handle | 2.0 | +| 1 | align_ee_handle | 0.5 | +| 2 | approach_gripper_handle | 5.0 | +| 3 | align_grasp_around_handle | 0.125 | +| 4 | grasp_handle | 0.5 | +| 5 | open_drawer_bonus | 7.5 | +| 6 | multi_stage_open_drawer | 1.0 | +| 7 | approach_ee_charger | 2.0 | +| 8 | lift_charger | 4.0 | +| 9 | charger_to_drawer | 6.0 | +| 10 | charger_in_drawer | 8.0 | +| 11 | close_drawer_after_charger | 10.0 | +| 12 | action_rate_l2 | -0.01 | +| 13 | joint_vel | -0.0001 | ++-------+----------------------------+---------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +[extract_model_images] camera_names=['left', 'wrist'] per_camera_shapes=[(10, 3, 256, 256), (10, 3, 256, 256)] return_shape=(10, 2, 3, 256, 256) dtype=torch.uint8 +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [0, 4] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5, 6] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [3, 5] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5, 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 [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [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 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[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 [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 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[ckpt_step_0100000] rollout 1/50: success=True steps=767 env=1 +[ckpt_step_0100000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 11/50: success=True steps=679 env=5 +[ckpt_step_0100000] rollout 12/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 13/50: success=True steps=777 env=3 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 21/50: success=True steps=691 env=1 +[ckpt_step_0100000] rollout 22/50: success=True steps=674 env=9 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 31/50: success=True steps=677 env=3 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 33/50: success=True steps=665 env=7 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 36/50: success=True steps=808 env=2 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 41/50: success=True steps=760 env=9 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 45/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 46/50: success=True steps=682 env=4 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 48/50: success=True steps=629 env=3 +[ckpt_step_0100000] rollout 49/50: success=True steps=689 env=9 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=0 diff --git a/rollouts/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_082943-2y53gx4r/files/requirements.txt b/rollouts/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_082943-2y53gx4r/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd1_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_082943-2y53gx4r/files/requirements.txt @@ -0,0 +1,262 @@ +robopolicy==0.1.0 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stage_charger_picked_conditional=0.3143(11/35) stage_charger_placed_conditional=0.9091(10/11) stage_drawer_closed_conditional=0.9000(9/10) diff --git a/rollouts/sd1_small_new_opendrawer_45_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260630_225524-s4u9hpi5/files/config.yaml b/rollouts/sd1_small_new_opendrawer_45_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260630_225524-s4u9hpi5/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9364edfdba0d1e6c8cc4caa551cf4024648eb472 --- /dev/null +++ b/rollouts/sd1_small_new_opendrawer_45_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260630_225524-s4u9hpi5/files/config.yaml @@ -0,0 +1,249 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + j8lbb92dvnbfannahfyarz050hbaudx7: + 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_small_new_opendrawer_45_split_sd1_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd1_small_new_opendrawer_45_split_sd1_eval_sd0_50_rollouts + - -o + - wandb_project=new_opendrawer_dagger + codePath: scripts/eval/roboticsarmsim_eval.py + codePathLocal: scripts/eval/roboticsarmsim_eval.py + cpu_count: 16 + cpu_count_logical: 32 + cudaVersion: "13.0" + disk: + /: + total: "1081101176832" + used: "801668038656" + email: chengenwu@berkeley.edu + executable: /home/david/Document/env_isaaclab/bin/python + git: + commit: d323bc5b083a667adf8a659e6a042c0f96948892 + remote: git@github.com:YixiaoWang7/robopolicy.git + gpu: NVIDIA GeForce RTX 5090 + gpu_count: 1 + gpu_nvidia: + - architecture: Blackwell + cudaCores: 21760 + memoryTotal: "34190917632" + name: NVIDIA GeForce RTX 5090 + uuid: GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b + host: yixiao-G914 + memory: + total: "65677729792" + os: Linux-7.0.0-22-generic-x86_64-with-glibc2.43 + program: /home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py + python: CPython 3.11.15 + root: /home/david/Document/robopolicy/runs/sd1_small_new_opendrawer_45_split_sd1_flow_train/sd0_50_rollouts + startedAt: "2026-07-01T05:55:24.940563Z" + writerId: j8lbb92dvnbfannahfyarz050hbaudx7 + 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_split_sd1 + loader: + batch_size: 128 + num_workers: 8 + prefetch_factor: 4 + sampling: + active_window_shards: 20 + frame_cache_max_entries: 12000 + k_passes: 8 + locality_block_size: 64 + log_stall_ms: 0 + predecode_next_block: true + profile_every_samples: 500 + profile_timing: false + split: + min_val_demos: 2 + split_seed: 1 + val_fraction: 0.02 + task_filter: + exclude_task_slugs: [] + include_task_slugs: [] +feature: + value: + features: + - camera_names: [] + future: 15 + history: 0 + key: actions + paths: + - actions + shape: + - 7 + source_type: hdf5 + - camera_names: [] + future: 0 + history: 0 + key: state + paths: + - obs/robot0_eef_pos + - obs/robot0_eef_quat + - obs/robot0_gripper_qpos + shape: + - 9 + source_type: hdf5 + - camera_names: + - left + - wrist + future: 0 + history: 0 + key: images + paths: [] + shape: + - 3 + - 256 + - 256 + source_type: video +logging: + value: + out_dir: runs/sd1_small_new_opendrawer_45_split_sd1_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_dagger + run_name: sd1_small_new_opendrawer_45_split_sd1 +model: + value: + bc_mlp_hidden_dims: + - 512 + - 512 + camera_feature_combine: concat + crop: true + crop_is_random: true + crop_size: 224 + direct_select_use_task_emb: true + down_dims: + - 128 + - 256 + - 512 + env_entity_dim: 7 + env_num_entities: 6 + env_state_mode: attention_pool + env_token_embed_dim: 256 + freeze_vision_backbone: true + fusion_dropout: 0.1 + fusion_ff_dim: 256 + fusion_mask_type: none + fusion_num_heads: 8 + fusion_num_layers: 4 + image_size: 224 + kernel_size: 5 + n_groups: 8 + num_query_tokens: 2 + pooled_dim: 64 + raw_image_size: 256 + time_embed_dim: 128 + use_film_scale_modulation: true + vision_model_size: small +processor: + value: + add_task_indices: true + container_to_idx: + bin: 0 + cup: 1 + plate: 2 + normalization_type: minmax + normalize_actions: true + normalize_states: true + obj_to_idx: + cross: 0 + cube: 1 + cylinder: 2 + stats_cache_path: "" +roboticsarmsim_eval: + value: + actions_per_step: 8 + checkpoint_dir: /home/david/Document/robopolicy/runs/sd1_small_new_opendrawer_45_split_sd1_flow_train/checkpoints + disable_fabric: false + env_spacing: 10 + horizon: 1200 + num_envs: 10 + num_rollouts: 50 + output_name: sd0_50_rollouts + policy_image_downsample_factor: 1 + seed: 0 + task: OpenDrawer-ManagerBased-v0 + task_module: RoboticArmSim.tasks + video: true + video_cameras: + - left + - wrist +train: + value: + amp: false + device: "" + eval_best_of_k: 4 + eval_every: 500 + eval_num_batches: 10 + grad_clip_norm: 1 + log_every: 500 + lr: 0.0001 + lr_schedule: + min_lr_ratio: 0.0001 + type: cosine + warmup_steps: 1000 + num_data_warmup: 50 + num_steps: 100000 + save_every: 10000 + seed: 1 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd1_small_new_opendrawer_45_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260630_225524-s4u9hpi5/files/output.log b/rollouts/sd1_small_new_opendrawer_45_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260630_225524-s4u9hpi5/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..fb303e1402cdc62079ad1ec2249cfef85f939678 --- /dev/null +++ b/rollouts/sd1_small_new_opendrawer_45_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260630_225524-s4u9hpi5/files/output.log @@ -0,0 +1,260 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-30_22-55-25.log +====================================================================================== + +22:55:25 [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 +22:55:26 [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 : 0.536011 seconds +[INFO]: Scene manager: + Number of environments: 10 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : ['/World/GroundPlane'] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +[INFO]: Time taken for simulation start : 4.218535 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------------+ +| Active Event Terms in Mode: 'reset' | ++--------+----------------------------+ +| Index | Name | ++--------+----------------------------+ +| 0 | reset_all | +| 1 | reset_cabinet_position | +| 2 | reset_charger_position | ++--------+----------------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++------------------------------------------------------------+ +| Active Observation Terms in Group: 'policy' (shape: (39,)) | ++---------+----------------------------------------+---------+ +| Index | Name | Shape | ++---------+----------------------------------------+---------+ +| 0 | joint_pos | (9,) | +| 1 | joint_vel | (9,) | +| 2 | cabinet_joint_pos | (1,) | +| 3 | cabinet_joint_vel | (1,) | +| 4 | charger_pos | (3,) | +| 5 | rel_ee_drawer_distance | (3,) | +| 6 | rel_ee_charger_distance | (3,) | +| 7 | rel_charger_drawer_distance | (3,) | +| 8 | previous_action | (7,) | ++---------+----------------------------------------+---------+ ++-------------------------------------------+ +| Active Observation Terms in Group: 'pose' | ++---------+-----------------------+---------+ +| Index | Name | Shape | ++---------+-----------------------+---------+ +| 0 | ee_pose | (7,) | +| 1 | gripper_pose | (7,) | +| 2 | cabinet_pose | (7,) | +| 3 | left_table_pose | (7,) | +| 4 | charger_pose | (7,) | ++---------+-----------------------+---------+ ++--------------------------------------------------+ +| Active Observation Terms in Group: 'rgb_camera' | ++----------+-----------------+---------------------+ +| Index | Name | Shape | ++----------+-----------------+---------------------+ +| 0 | teleop_cam | (256, 256, 3) | +| 1 | left_cam | (256, 256, 3) | +| 2 | right_cam | (256, 256, 3) | +| 3 | wrist_cam | (256, 256, 3) | +| 4 | top_cam | (256, 256, 3) | ++----------+-----------------+---------------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 14 active terms. ++----------------------------------------------+ +| Active Reward Terms | ++-------+----------------------------+---------+ +| Index | Name | Weight | ++-------+----------------------------+---------+ +| 0 | approach_ee_handle | 2.0 | +| 1 | align_ee_handle | 0.5 | +| 2 | approach_gripper_handle | 5.0 | +| 3 | align_grasp_around_handle | 0.125 | +| 4 | grasp_handle | 0.5 | +| 5 | open_drawer_bonus | 7.5 | +| 6 | multi_stage_open_drawer | 1.0 | +| 7 | approach_ee_charger | 2.0 | +| 8 | lift_charger | 4.0 | +| 9 | charger_to_drawer | 6.0 | +| 10 | charger_in_drawer | 8.0 | +| 11 | close_drawer_after_charger | 10.0 | +| 12 | action_rate_l2 | -0.01 | +| 13 | joint_vel | -0.0001 | ++-------+----------------------------+---------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd1_small_new_opendrawer_45_split_sd1_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +[extract_model_images] camera_names=['left', 'wrist'] per_camera_shapes=[(10, 3, 256, 256), (10, 3, 256, 256)] return_shape=(10, 2, 3, 256, 256) dtype=torch.uint8 +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [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 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [1, 6] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [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 [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [0] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[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 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 2 charger picked up success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [1] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [3] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [7] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [7] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [7] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[ckpt_step_0100000] rollout 1/50: success=True steps=663 env=3 +[ckpt_step_0100000] rollout 2/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=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=True steps=693 env=6 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 21/50: success=True steps=571 env=1 +[ckpt_step_0100000] rollout 22/50: success=True steps=660 env=0 +[ckpt_step_0100000] rollout 23/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 24/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 25/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 31/50: success=True steps=717 env=6 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 33/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=2 +[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=7 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 41/50: success=True steps=657 env=1 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 43/50: success=True steps=1009 env=3 +[ckpt_step_0100000] rollout 44/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 45/50: success=True steps=742 env=7 +[ckpt_step_0100000] rollout 46/50: success=True steps=756 env=8 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 48/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 49/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=9 diff --git a/rollouts/sd1_small_new_opendrawer_45_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260630_225524-s4u9hpi5/files/requirements.txt b/rollouts/sd1_small_new_opendrawer_45_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260630_225524-s4u9hpi5/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd1_small_new_opendrawer_45_split_sd1_flow_train/sd0_50_rollouts/wandb/run-20260630_225524-s4u9hpi5/files/requirements.txt @@ -0,0 +1,262 @@ +robopolicy==0.1.0 +psutil==5.9.8 +isaaclab_contrib==0.0.2 +pluggy==1.6.0 +isaaclab_mimic==1.0.16 +stable_baselines3==2.8.0 +Pygments==2.20.0 +typing_extensions==4.15.0 +mdurl==0.1.2 +coverage==7.4.4 +jsonschema-specifications==2025.9.1 +isaacsim-robot-setup==5.1.0.0 +cmeel-qhull==8.0.2.1 +nest-asyncio==1.5.6 +Markdown==3.10.2 +tornado==6.5.1 +gymnasium==1.2.1 +orjson==3.11.9 +moviepy==2.2.1 +pyglet==1.5.31 +isaacsim-test==5.1.0.0 +isaacsim-gui==5.1.0.0 +torch==2.7.0+cu128 +nvidia-cusolver-cu12==11.7.2.55 +isaacsim-cortex==5.1.0.0 +qrcode==7.4.2 +rpds-py==2026.5.1 +async-timeout==5.0.1 +fsspec==2026.4.0 +isaacsim-extscache-kit-sdk==5.1.0.0 +nvidia-curand-cu12==10.3.9.55 +zipp==4.1.0 +huggingface_hub==0.36.2 +importlib_metadata==9.0.0 +isaacsim-example==5.1.0.0 +setuptools==81.0.0 +networkx==3.6.1 +python-multipart==0.0.20 +ipython==9.14.0 +idna-ssl==1.1.0 +isaacsim-robot==5.1.0.0 +wcwidth==0.7.0 +referencing==0.37.0 +tokenizers==0.22.2 +osqp==0.6.7.post3 +grpcio==1.80.0 +isaacsim-core==5.1.0.0 +imageio==2.37.0 +cmeel-tinyxml==2.6.2.3 +regex==2026.5.9 +Rtree==1.3.0 +pycares==4.8.0 +torchvision==0.22.0+cu128 +starlette==0.49.1 +aiofiles==23.2.1 +cmeel-zlib==1.3.2 +packaging==23.0 +pydantic==2.11.10 +pandas==3.0.3 +pip==26.1.2 +msal==1.27.0 +comm==0.2.3 +isaacsim-sensor==5.1.0.0 +cmeel-console-bridge==1.0.2.3 +isaacsim-kernel==5.1.0.0 +anytree==2.13.0 +trimesh==4.5.1 +h11==0.16.0 +isaacsim-robot-motion==5.1.0.0 +sentry-sdk==2.29.1 +cloudpickle==3.1.2 +azure-identity==1.13.0 +toml==0.10.2 +yarl==1.18.3 +msal-extensions==1.0.0 +scipy==1.15.3 +boto3==1.39.11 +pydantic_core==2.33.2 +charset-normalizer==3.3.2 +isaacsim-storage==5.1.0.0 +typing-inspection==0.4.2 +uvicorn==0.29.0 +frozenlist==1.5.0 +tomli==2.4.1 +aiohappyeyeballs==2.4.4 +aiosignal==1.3.2 +pytz==2024.1 +isaaclab==0.54.3 +eigenpy==3.5.1 +quadprog==0.1.13 +python-dateutil==2.9.0.post0 +rl_games==1.6.1 +awscrt==0.23.8 +nvidia-cusparse-cu12==12.5.7.53 +markdown-it-py==4.2.0 +pytest==9.0.3 +jupyterlab_widgets==3.0.16 +websockets==12.0 +isaacsim-code-editor==5.1.0.0 +pexpect==4.9.0 +rich==15.0.0 +isaaclab_assets==0.2.4 +aioitertools==0.11.0 +isaacsim-template==5.1.0.0 +platformdirs==4.10.0 +tensorboardX==2.6.5 +hidapi==0.14.0.post2 +cmeel-boost==1.83.0 +aiohttp==3.11.11 +pyperclip==1.8.0 +prettytable==3.3.0 +pyvers==0.2.2 +filelock==3.29.0 +requests==2.32.3 +isaacsim-app==5.1.0.0 +Werkzeug==3.1.8 +nvidia-cuda-cupti-cu12==12.8.57 +nlopt==2.7.1 +onnx==1.21.0 +onnxscript==0.7.0 +ipython_pygments_lexers==1.1.1 +absl-py==2.4.0 +isaacsim==5.1.0.0 +aiodns==3.1.1 +tensorboard==2.20.0 +gym==0.23.1 +isaacsim-rl==5.1.0.0 +python-dotenv==1.2.2 +hydra-core==1.3.2 +isaacsim-extscache-kit==5.1.0.0 +portalocker==2.7.0 +httptools==0.6.1 +isaaclab_tasks==0.11.16 +cycler==0.11.0 +click==8.4.1 +hpp-fcl==2.4.4 +asteval==1.0.6 +azure-core==1.28.0 +junitparser==5.0.0 +imageio-ffmpeg==0.6.0 +smmap==5.0.3 +botocore==1.39.11 +asttokens==3.0.1 +nvidia-nvjitlink-cu12==12.8.61 +jmespath==1.0.1 +ml_dtypes==0.5.4 +pycparser==3.0 +lxml==6.1.1 +pytest-mock==3.15.1 +pillow==11.3.0 +cmeel==0.60.1 +jsonschema==4.26.0 +rsl-rl-lib==5.0.1 +executing==2.2.1 +daqp==0.7.2 +watchdog==4.0.0 +parso==0.8.7 +wrapt==1.16.0 +msgpack==1.1.2 +annotated-types==0.7.0 +jedi==0.20.0 +isaacsim-benchmark==5.1.0.0 +anyio==4.13.0 +hf-xet==1.5.0 +tensordict==0.12.4 +aiobotocore==2.24.0 +nvidia-cufft-cu12==11.3.3.41 +pin-pink==3.1.0 +cmeel-octomap==1.10.0 +isodate==0.6.1 +isaacsim-extscache-physics==5.1.0.0 +multidict==6.1.0 +Pint==0.20.1 +RoboticArmSim==0.1.0 +traitlets==5.15.0 +pyparsing==3.0.9 +tensorboard-data-server==0.7.2 +gym-notices==0.1.0 +propcache==0.2.1 +fonttools==4.55.3 +nvidia-nvtx-cu12==12.8.55 +stack-data==0.6.3 +cmeel-assimp==5.4.3.1 +nvidia-cuda-runtime-cu12==12.8.57 +numba==0.59.1 +isaacsim-ros1==5.1.0.0 +PyJWT==2.13.0 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success_count=10/50 mean_episode_length=1113.00 stage_drawer_opened=0.9000(45/50) stage_charger_picked=0.3200(16/50) stage_charger_placed=0.2600(13/50) stage_drawer_closed=0.2000(10/50) stage_drawer_opened_conditional=0.9000(45/50) stage_charger_picked_conditional=0.3556(16/45) stage_charger_placed_conditional=0.8125(13/16) stage_drawer_closed_conditional=0.7692(10/13) diff --git a/rollouts/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_123029-uhcz6gwf/files/config.yaml b/rollouts/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_123029-uhcz6gwf/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d1df4c9c0916f88449547b8c8073ad537d0ecd2c --- /dev/null +++ b/rollouts/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_123029-uhcz6gwf/files/config.yaml @@ -0,0 +1,247 @@ +_wandb: + value: + cli_version: 0.27.0 + e: + o6fzzpcjjw60gkxs8vllab7lswrteiym: + args: + - --config + - /home/david/Document/robopolicy/scripts/eval/roboticarmsim_eval_config.json + - -o + - horizon=1200 + - -o + - seed=0 + - -o + - num_rollouts=50 + - -o + - checkpoint_dir=/home/david/Document/robopolicy/runs/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/checkpoints + - -o + - output_name=sd0_50_rollouts + - -o + - wandb_run_name=sd2_new_opendrawer_70_stage_2_50_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: "738563309568" + email: chengenwu@berkeley.edu + executable: /home/david/Document/env_isaaclab/bin/python + git: + commit: d323bc5b083a667adf8a659e6a042c0f96948892 + remote: git@github.com:YixiaoWang7/robopolicy.git + gpu: NVIDIA GeForce RTX 5090 + gpu_count: 1 + gpu_nvidia: + - architecture: Blackwell + cudaCores: 21760 + memoryTotal: "34190917632" + name: NVIDIA GeForce RTX 5090 + uuid: GPU-8e880bbe-770e-b86d-a47c-391d40ce4e6b + host: yixiao-G914 + memory: + total: "65677729792" + os: Linux-7.0.0-22-generic-x86_64-with-glibc2.43 + program: /home/david/Document/robopolicy/scripts/eval/roboticsarmsim_eval.py + python: CPython 3.11.15 + root: /home/david/Document/robopolicy/runs/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts + startedAt: "2026-06-28T19:30:29.625206Z" + writerId: o6fzzpcjjw60gkxs8vllab7lswrteiym + m: [] + python_version: 3.11.15 + t: + "1": + - 1 + - 11 + - 41 + - 49 + "2": + - 1 + - 11 + - 41 + - 49 + "3": + - 2 + - 13 + - 16 + - 61 + "4": 3.11.15 + "5": 0.27.0 + "6": 4.57.6 + "12": 0.27.0 + "13": linux-x86_64 +algo: + value: + beta_alpha: 1.5 + beta_beta: 1 + dense_jump_density: 2 + guidance_scale: 1 + logit_normal_loc: 0 + logit_normal_scale: 1 + num_inference_steps: 10 + ot_reg: 0.05 + path_type: linear + scheduler_type: uniform + sigma_min: 0.0001 + sigma_schedule: constant + solver_type: euler + t_max: 0.999 + time_eps: 0 +dataset: + value: + cameras: + - left + - wrist + data_dir: /home/david/Document/dataset/new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5 + loader: + batch_size: 128 + num_workers: 8 + prefetch_factor: 4 + sampling: + active_window_shards: 20 + frame_cache_max_entries: 12000 + k_passes: 8 + locality_block_size: 64 + log_stall_ms: 0 + predecode_next_block: true + profile_every_samples: 500 + profile_timing: false + split: + min_val_demos: 2 + split_seed: 2 + val_fraction: 0.02 + task_filter: + exclude_task_slugs: [] + include_task_slugs: [] +feature: + value: + features: + - camera_names: [] + future: 15 + history: 0 + key: actions + paths: + - actions + shape: + - 7 + source_type: hdf5 + - camera_names: [] + future: 0 + history: 0 + key: state + paths: + - obs/robot0_eef_pos + - obs/robot0_eef_quat + - obs/robot0_gripper_qpos + shape: + - 9 + source_type: hdf5 + - camera_names: + - left + - wrist + future: 0 + history: 0 + key: images + paths: [] + shape: + - 3 + - 256 + - 256 + source_type: video +logging: + value: + out_dir: runs/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train + wandb: + enabled: true + entity: learn_from_failure_dwu + project: new_opendrawer_flow_lff + run_name: sd2_new_opendrawer_70_stage_2_50_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/sd2_new_opendrawer_70_stage_2_50_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: 2 + weight_decay: 0.0001 +version: + value: 1 diff --git a/rollouts/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_123029-uhcz6gwf/files/output.log b/rollouts/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_123029-uhcz6gwf/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..050ee0b3a0e2b4fb05ea27b7f7c1e0b6fe95228e --- /dev/null +++ b/rollouts/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_123029-uhcz6gwf/files/output.log @@ -0,0 +1,286 @@ +[INFO]: Parsing configuration from: RoboticArmSim.tasks.manager_based.opendrawer.open_drawer_env_cfg:OpenDrawerEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-28_12-30-30.log +====================================================================================== + +12:30:30 [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 +12:30:30 [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 : 0.528692 seconds +[INFO]: Scene manager: + Number of environments: 10 + Environment spacing : 10.0 + Source prim name : /World/envs/env_0 + Global prim paths : ['/World/GroundPlane'] + Replicate physics : True +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +[INFO]: Time taken for simulation start : 4.218921 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++-------------------------------------+ +| Active Event Terms in Mode: 'reset' | ++--------+----------------------------+ +| Index | Name | ++--------+----------------------------+ +| 0 | reset_all | +| 1 | reset_cabinet_position | +| 2 | reset_charger_position | ++--------+----------------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 7) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 6 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: contains 3 groups. ++------------------------------------------------------------+ +| Active Observation Terms in Group: 'policy' (shape: (39,)) | ++---------+----------------------------------------+---------+ +| Index | Name | Shape | ++---------+----------------------------------------+---------+ +| 0 | joint_pos | (9,) | +| 1 | joint_vel | (9,) | +| 2 | cabinet_joint_pos | (1,) | +| 3 | cabinet_joint_vel | (1,) | +| 4 | charger_pos | (3,) | +| 5 | rel_ee_drawer_distance | (3,) | +| 6 | rel_ee_charger_distance | (3,) | +| 7 | rel_charger_drawer_distance | (3,) | +| 8 | previous_action | (7,) | ++---------+----------------------------------------+---------+ ++-------------------------------------------+ +| Active Observation Terms in Group: 'pose' | ++---------+-----------------------+---------+ +| Index | Name | Shape | ++---------+-----------------------+---------+ +| 0 | ee_pose | (7,) | +| 1 | gripper_pose | (7,) | +| 2 | cabinet_pose | (7,) | +| 3 | left_table_pose | (7,) | +| 4 | charger_pose | (7,) | ++---------+-----------------------+---------+ ++--------------------------------------------------+ +| Active Observation Terms in Group: 'rgb_camera' | ++----------+-----------------+---------------------+ +| Index | Name | Shape | ++----------+-----------------+---------------------+ +| 0 | teleop_cam | (256, 256, 3) | +| 1 | left_cam | (256, 256, 3) | +| 2 | right_cam | (256, 256, 3) | +| 3 | wrist_cam | (256, 256, 3) | +| 4 | top_cam | (256, 256, 3) | ++----------+-----------------+---------------------+ + +[INFO] Termination Manager: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | success | False | +| 1 | time_out | True | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 14 active terms. ++----------------------------------------------+ +| Active Reward Terms | ++-------+----------------------------+---------+ +| Index | Name | Weight | ++-------+----------------------------+---------+ +| 0 | approach_ee_handle | 2.0 | +| 1 | align_ee_handle | 0.5 | +| 2 | approach_gripper_handle | 5.0 | +| 3 | align_grasp_around_handle | 0.125 | +| 4 | grasp_handle | 0.5 | +| 5 | open_drawer_bonus | 7.5 | +| 6 | multi_stage_open_drawer | 1.0 | +| 7 | approach_ee_charger | 2.0 | +| 8 | lift_charger | 4.0 | +| 9 | charger_to_drawer | 6.0 | +| 10 | charger_in_drawer | 8.0 | +| 11 | close_drawer_after_charger | 10.0 | +| 12 | action_rate_l2 | -0.01 | +| 13 | joint_vel | -0.0001 | ++-------+----------------------------+---------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +Evaluating checkpoint: /home/david/Document/robopolicy/runs/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/checkpoints/ckpt_step_0100000.pt (step=100000) +[extract_model_images] camera_names=['left', 'wrist'] per_camera_shapes=[(10, 3, 256, 256), (10, 3, 256, 256)] return_shape=(10, 2, 3, 256, 256) dtype=torch.uint8 +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] 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+[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 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 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [9] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [0] +[OpenDrawer] stage 1 drawer opened success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[OpenDrawer] stage 1 drawer opened success reached for envs [6] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 2 charger picked up success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [8] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [5] +[OpenDrawer] stage 2 charger picked up success reached for envs [2] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [4] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [5] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [2] +[OpenDrawer] stage 1 drawer opened success reached for envs [8, 9] +[OpenDrawer] stage 1 drawer opened success reached for envs [1] +[OpenDrawer] stage 4 drawer closed with charger inside success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [4] +[OpenDrawer] stage 3 charger placed in drawer success reached for envs [4] +[OpenDrawer] stage 1 drawer opened success reached for envs [7] +[OpenDrawer] stage 1 drawer opened success reached for envs [3] +[OpenDrawer] stage 1 drawer opened success reached for envs [2] +[OpenDrawer] stage 2 charger picked up success reached for envs [8] +[OpenDrawer] stage 1 drawer opened success reached for envs [5] +[ckpt_step_0100000] rollout 1/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 2/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 3/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 4/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 5/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 6/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 7/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 8/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 9/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 10/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 11/50: success=True steps=617 env=4 +[ckpt_step_0100000] rollout 12/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 13/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 14/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 15/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 16/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 17/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 18/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 19/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 20/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 21/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 22/50: success=True steps=688 env=9 +[ckpt_step_0100000] rollout 23/50: success=True steps=774 env=1 +[ckpt_step_0100000] rollout 24/50: success=True steps=938 env=7 +[ckpt_step_0100000] rollout 25/50: success=True steps=980 env=3 +[ckpt_step_0100000] rollout 26/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 27/50: success=False steps=1200 env=2 +[ckpt_step_0100000] rollout 28/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 29/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 30/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 31/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 32/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 33/50: success=True steps=704 env=2 +[ckpt_step_0100000] rollout 34/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 35/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 36/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 37/50: success=False steps=1200 env=0 +[ckpt_step_0100000] rollout 38/50: success=False steps=1200 env=5 +[ckpt_step_0100000] rollout 39/50: success=False steps=1200 env=6 +[ckpt_step_0100000] rollout 40/50: success=False steps=1200 env=8 +[ckpt_step_0100000] rollout 41/50: success=True steps=730 env=2 +[ckpt_step_0100000] rollout 42/50: success=False steps=1200 env=4 +[ckpt_step_0100000] rollout 43/50: success=False steps=1200 env=9 +[ckpt_step_0100000] rollout 44/50: success=True steps=733 env=8 +[ckpt_step_0100000] rollout 45/50: success=True steps=770 env=5 +[ckpt_step_0100000] rollout 46/50: success=False steps=1200 env=1 +[ckpt_step_0100000] rollout 47/50: success=False steps=1200 env=7 +[ckpt_step_0100000] rollout 48/50: success=True steps=716 env=2 +[ckpt_step_0100000] rollout 49/50: success=False steps=1200 env=3 +[ckpt_step_0100000] rollout 50/50: success=False steps=1200 env=0 diff --git a/rollouts/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_123029-uhcz6gwf/files/requirements.txt b/rollouts/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_123029-uhcz6gwf/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..0fea096e4b7e426da4218fb5ceda1d96f3c4748a --- /dev/null +++ b/rollouts/sd2_new_opendrawer_70_stage_2_50_vig_cut_thd_3_mg_5_flow_train/sd0_50_rollouts/wandb/run-20260628_123029-uhcz6gwf/files/requirements.txt @@ -0,0 +1,262 @@ +robopolicy==0.1.0 +psutil==5.9.8 +isaaclab_contrib==0.0.2 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