Create act-v3-fork-bowl2-scaled.log

act-v3-fork-bowl2-scaled.log

@@ -0,0 +1,673 @@
+  [eval pose] bowl: pos=(0.120, -0.495, 0.050)
+[Evaluation] now success rate: 0.083  [1/12]
+[Evaluation] Evaluating episode 13...
+                                                                 [Evaluation] Episode 13 timed out!
+[Evaluation] Episode 13 Stage Status00 [14:18<00:08,  5.58step/s]            
+  Tableware : success
+        Bowl XY   : success
+        Bowl dx/dy: 0.039 / 0.021
+        Spoon XY  : success
+        Spoon dx/dy: 0.027 / 0.084
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.570 / 0.005
+        Cloth z/contact: 0.058 / success
+        Coverage  : success
+        Ratio     : 0.669
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.005
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_13_failed.mp4 (2400 frames)
+Evaluation:  43%|?????     | 13/30 [3:06:04<4:07:31, 873.62s/episode, rate=0.077, success=1/13][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 14/200
+  [eval pose] spoon: pos=(0.150, -0.470, 0.050)
+  [eval pose] bowl: pos=(0.110, -0.263, 0.050)
+[Evaluation] now success rate: 0.077  [1/13]
+[Evaluation] Evaluating episode 14...
+                                                                 [Evaluation] Episode 14 timed out!
+[Evaluation] Episode 14 Stage Status00 [14:17<00:00,  5.59step/s]            
+  Tableware : fail
+        Bowl XY   : fail
+        Bowl dx/dy: 0.460 / 0.097
+        Spoon XY  : fail
+        Spoon dx/dy: 0.420 / 0.110
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.220 / 0.070
+        Cloth z/contact: 0.056 / success
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.000
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_14_failed.mp4 (2400 frames)
+Evaluation:  47%|?????     | 14/30 [3:20:23<3:51:43, 868.98s/episode, rate=0.071, success=1/14][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 15/200
+  [eval pose] spoon: pos=(0.152, -0.480, 0.050)
+  [eval pose] bowl: pos=(0.180, -0.224, 0.050)
+[Evaluation] now success rate: 0.071  [1/14]
+[Evaluation] Evaluating episode 15...
+                                                                 [Evaluation] Episode 15 timed out!
+[Evaluation] Episode 15 Stage Status00 [14:06<00:06,  5.62step/s]            
+  Tableware : fail
+        Bowl XY   : fail
+        Bowl dx/dy: 0.388 / 0.145
+        Spoon XY  : fail
+        Spoon dx/dy: 0.418 / 0.120
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.220 / 0.070
+        Cloth z/contact: 0.056 / success
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.000
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_15_failed.mp4 (2400 frames)
+Evaluation:  50%|?????     | 15/30 [3:34:36<3:36:02, 864.18s/episode, rate=0.067, success=1/15][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 16/200
+  [eval pose] spoon: pos=(0.147, -0.491, 0.050)
+  [eval pose] bowl: pos=(0.174, -0.244, 0.050)
+[Evaluation] now success rate: 0.067  [1/15]
+[Evaluation] Evaluating episode 16...
+                                                                 [Evaluation] Episode 16 timed out!
+[Evaluation] Episode 16 Stage Status00 [14:17<00:05,  5.38step/s]            
+  Tableware : fail
+        Bowl XY   : fail
+        Bowl dx/dy: 0.382 / 0.107
+        Spoon XY  : fail
+        Spoon dx/dy: 0.423 / 0.131
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.220 / 0.070
+        Cloth z/contact: 0.056 / success
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.000
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_16_failed.mp4 (2400 frames)
+Evaluation:  53%|??????    | 16/30 [3:49:00<3:21:36, 864.06s/episode, rate=0.062, success=1/16][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 17/200
+  [eval pose] spoon: pos=(0.124, -0.497, 0.050)
+  [eval pose] bowl: pos=(0.128, -0.270, 0.050)
+                                                                             [Evaluation] now success rate: 0.062  [1/16]
+[Evaluation] Evaluating episode 17...                                        
+                                                                 [Evaluation] Episode 17 timed out!
+[Evaluation] Episode 17 Stage Status00 [15:09<00:05,  5.29step/s]
+  Tableware : success
+        Bowl XY   : success
+        Bowl dx/dy: 0.033 / 0.017
+        Spoon XY  : success
+        Spoon dx/dy: 0.037 / 0.081
+
+  Wiping    : fail
+        Cloth XY  : success
+        Cloth dx/dy: 0.059 / 0.004
+        Cloth z/contact: 0.078 / success
+        Coverage  : fail
+        Ratio     : 0.557
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.002
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_17_failed.mp4 (2400 frames)
+[rollout] resetting environment...
+Evaluation:  57%|??????    | 17/30 [4:04:15<3:10:33, 879.47s/episode, rate=0.059, success=1/17][rollout] env.reset() returned
+[rollout] applying object pose episode 18/200
+  [eval pose] spoon: pos=(0.160, -0.249, 0.050)
+  [eval pose] bowl: pos=(0.171, -0.470, 0.050)
+[Evaluation] now success rate: 0.059  [1/17]
+[Evaluation] Evaluating episode 18...
+                                                                 [Evaluation] Episode 18 timed out!
+[Evaluation] Episode 18 Stage Status00 [15:00<00:03,  5.27step/s]            
+  Tableware : fail
+        Bowl XY   : fail
+        Bowl dx/dy: 0.402 / 0.111
+        Spoon XY  : fail
+        Spoon dx/dy: 0.410 / 0.111
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.220 / 0.070
+        Cloth z/contact: 0.056 / success
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.000
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_18_failed.mp4 (2400 frames)
+[rollout] resetting environment...
+Evaluation:  60%|??????    | 18/30 [4:19:19<2:57:22, 886.91s/episode, rate=0.056, success=1/18][rollout] env.reset() returned
+[rollout] applying object pose episode 19/200
+  [eval pose] bowl: pos=(0.158, -0.282, 0.050)
+  [eval pose] spoon: pos=(0.116, -0.495, 0.050)
+                                                                             [Evaluation] now success rate: 0.056  [1/18]
+[Evaluation] Evaluating episode 19...                                        
+                                                                 [Evaluation] Episode 19 timed out!
+[Evaluation] Episode 19 Stage Status00 [14:39<00:01,  5.52step/s]
+  Tableware : success
+        Bowl XY   : success
+        Bowl dx/dy: 0.028 / 0.017
+        Spoon XY  : success
+        Spoon dx/dy: 0.042 / 0.077
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.373 / 0.147
+        Cloth z/contact: 0.258 / fail
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.014
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_19_failed.mp4 (2400 frames)
+Evaluation:  63%|???????   | 19/30 [4:34:00<2:42:15, 885.03s/episode, rate=0.053, success=1/19][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 20/200
+  [eval pose] bowl: pos=(0.105, -0.239, 0.050)
+  [eval pose] spoon: pos=(0.122, -0.488, 0.050)
+                                                                             [Evaluation] now success rate: 0.053  [1/19]
+[Evaluation] Evaluating episode 20...                                        
+                                                                 [Evaluation] Episode 20 timed out!
+[Evaluation] Episode 20 Stage Status00 [14:26<00:00,  5.56step/s]
+  Tableware : fail
+        Bowl XY   : fail
+        Bowl dx/dy: 0.465 / 0.121
+        Spoon XY  : fail
+        Spoon dx/dy: 0.448 / 0.128
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.220 / 0.070
+        Cloth z/contact: 0.056 / success
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.000
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_20_failed.mp4 (2400 frames)
+Evaluation:  67%|???????   | 20/30 [4:48:27<2:26:37, 879.73s/episode, rate=0.050, success=1/20][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 21/200
+  [eval pose] spoon: pos=(0.101, -0.459, 0.050)
+  [eval pose] bowl: pos=(0.177, -0.259, 0.050)
+                                                      [Evaluation] now success rate: 0.050  [1/20]
+[Evaluation] Evaluating episode 21...00:00<?, ?step/s]                       
+                                                                 [Evaluation] Episode 21 timed out!
+[Evaluation] Episode 21 Stage Status00 [15:16<00:08,  4.97step/s]
+  Tableware : fail
+        Bowl XY   : success
+        Bowl dx/dy: 0.026 / 0.029
+        Spoon XY  : fail
+        Spoon dx/dy: 0.392 / 0.035
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.164 / 0.040
+        Cloth z/contact: 0.056 / success
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.081
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_21_failed.mp4 (2400 frames)
+Evaluation:  70%|???????   | 21/30 [5:03:53<2:14:01, 893.48s/episode, rate=0.048, success=1/21][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 22/200
+  [eval pose] bowl: pos=(0.176, -0.235, 0.050)
+  [eval pose] spoon: pos=(0.126, -0.482, 0.050)
+[Evaluation] now success rate: 0.048  [1/21]
+[Evaluation] Evaluating episode 22...
+                                                                 [Evaluation] Episode 22 timed out!
+[Evaluation] Episode 22 Stage Status00 [15:40<00:02,  5.12step/s]            
+  Tableware : fail
+        Bowl XY   : fail
+        Bowl dx/dy: 0.390 / 0.122
+        Spoon XY  : fail
+        Spoon dx/dy: 0.444 / 0.122
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.220 / 0.070
+        Cloth z/contact: 0.056 / success
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.000
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+Evaluation:  73%|????????  | 22/30 [5:19:36<2:01:07, 908.47s/episode, rate=0.048, success=1/21][video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_22_failed.mp4 (2400 frames)
+Evaluation:  73%|????????  | 22/30 [5:19:36<2:01:07, 908.47s/episode, rate=0.045, success=1/22][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 23/200
+  [eval pose] spoon: pos=(0.113, -0.472, 0.050)
+  [eval pose] bowl: pos=(0.101, -0.259, 0.050)
+                                                                             [Evaluation] now success rate: 0.045  [1/22]
+[Evaluation] Evaluating episode 23...0 [15:43<00:00,  5.12step/s, steps=4800]
+                                                                 2026-06-11T10:38:43Z [19,980,235ms] [Error] [omni.syntheticdata.plugin] OgnSdOnNewFrame : frames [108511|30, 108511|30] discardeds]            
+                                                                 [Evaluation] Episode 23 timed out!
+[Evaluation] Episode 23 Stage Status00 [15:52<00:04,  5.15step/s]
+  Tableware : success
+        Bowl XY   : success
+        Bowl dx/dy: 0.028 / 0.026
+        Spoon XY  : success
+        Spoon dx/dy: 0.057 / 0.067
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.171 / 0.125
+        Cloth z/contact: 0.056 / success
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.078
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+Evaluation:  77%|????????  | 23/30 [5:35:33<1:47:40, 922.96s/episode, rate=0.043, success=1/23][video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_23_failed.mp4 (2400 frames)
+[rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 24/200
+  [eval pose] spoon: pos=(0.136, -0.497, 0.050)
+  [eval pose] bowl: pos=(0.104, -0.229, 0.050)
+[Evaluation] now success rate: 0.043  [1/23]
+[Evaluation] Evaluating episode 24...
+                                                                 [Evaluation] Episode 24 timed out!
+[Evaluation] Episode 24 Stage Status00 [15:31<00:03,  5.21step/s]            
+  Tableware : fail
+        Bowl XY   : fail
+        Bowl dx/dy: 0.466 / 0.146
+        Spoon XY  : fail
+        Spoon dx/dy: 0.434 / 0.137
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.220 / 0.070
+        Cloth z/contact: 0.056 / success
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.000
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_24_failed.mp4 (2400 frames)
+Evaluation:  80%|????????  | 24/30 [5:51:09<1:32:41, 926.88s/episode, rate=0.042, success=1/24][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 25/200
+  [eval pose] spoon: pos=(0.163, -0.495, 0.050)
+  [eval pose] bowl: pos=(0.156, -0.283, 0.050)
+[Evaluation] now success rate: 0.042  [1/24]
+[Evaluation] Evaluating episode 25...
+                                                                 [Evaluation] Episode 25 timed out!
+[Evaluation] Episode 25 Stage Status00 [15:42<00:01,  5.06step/s]            
+  Tableware : success
+        Bowl XY   : success
+        Bowl dx/dy: 0.041 / 0.001
+        Spoon XY  : success
+        Spoon dx/dy: 0.020 / 0.075
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.241 / 0.080
+        Cloth z/contact: 0.056 / success
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.110
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_25_failed.mp4 (2400 frames)
+Evaluation:  83%|????????? | 25/30 [6:06:53<1:17:40, 932.15s/episode, rate=0.040, success=1/25][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 26/200
+  [eval pose] spoon: pos=(0.154, -0.490, 0.050)
+  [eval pose] bowl: pos=(0.132, -0.261, 0.050)
+
+[Evaluation] now success rate: 0.040  [1/25]
+[Evaluation] Evaluating episode 26...                            [Evaluation] Episode 26 timed out!
+[Evaluation] Episode 26 Stage Status00 [16:03<00:01,  4.92step/s]            
+  Tableware : success
+        Bowl XY   : success
+        Bowl dx/dy: 0.028 / 0.024
+        Spoon XY  : success
+        Spoon dx/dy: 0.023 / 0.074
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.388 / 0.214
+        Cloth z/contact: 0.070 / success
+        Coverage  : fail
+        Ratio     : 0.450
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.045
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.011
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_26_failed.mp4 (2400 frames)
+Evaluation:  87%|????????? | 26/30 [6:23:00<1:02:49, 942.40s/episode, rate=0.038, success=1/26][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 27/200
+  [eval pose] spoon: pos=(0.108, -0.498, 0.050)
+  [eval pose] bowl: pos=(0.124, -0.262, 0.050)
+
+[Evaluation] now success rate: 0.038  [1/26]
+[Evaluation] Evaluating episode 27...                            [Evaluation] Episode 27 timed out!
+[Evaluation] Episode 27 Stage Status00 [16:10<00:03,  4.95step/s]            
+  Tableware : success
+        Bowl XY   : success
+        Bowl dx/dy: 0.047 / 0.025
+        Spoon XY  : success
+        Spoon dx/dy: 0.005 / 0.075
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.570 / 0.025
+        Cloth z/contact: 0.058 / success
+        Coverage  : fail
+        Ratio     : 0.480
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.003
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.005
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_27_failed.mp4 (2400 frames)
+Evaluation:  90%|????????? | 27/30 [6:39:13<47:35, 951.75s/episode, rate=0.037, success=1/27][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 28/200
+  [eval pose] bowl: pos=(0.156, -0.221, 0.050)
+  [eval pose] spoon: pos=(0.113, -0.460, 0.050)
+[Evaluation] now success rate: 0.037  [1/27]
+[Evaluation] Evaluating episode 28...
+                                                                 [Evaluation] Episode 28 timed out!
+[Evaluation] Episode 28 Stage Status00 [15:40<00:09,  5.02step/s]            
+  Tableware : fail
+        Bowl XY   : fail
+        Bowl dx/dy: 0.414 / 0.139
+        Spoon XY  : fail
+        Spoon dx/dy: 0.457 / 0.100
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.220 / 0.070
+        Cloth z/contact: 0.056 / success
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.000
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_28_failed.mp4 (2400 frames)
+Evaluation:  93%|??????????| 28/30 [6:55:04<31:42, 951.48s/episode, rate=0.036, success=1/28][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 29/200
+  [eval pose] spoon: pos=(0.122, -0.233, 0.050)
+  [eval pose] bowl: pos=(0.153, -0.493, 0.050)
+                                                                             [Evaluation] now success rate: 0.036  [1/28]
+[Evaluation] Evaluating episode 29...                                        
+                                                                 [Evaluation] Episode 29 timed out!
+[Evaluation] Episode 29 Stage Status00 [15:40<00:09,  5.05step/s]
+  Tableware : success
+        Bowl XY   : success
+        Bowl dx/dy: 0.011 / 0.024
+        Spoon XY  : success
+        Spoon dx/dy: 0.031 / 0.080
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.348 / 0.211
+        Cloth z/contact: 0.058 / success
+        Coverage  : fail
+        Ratio     : 0.492
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.003
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.000
+        Min non-tableware z: 0.041
+
+Overall   : fail
+[video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_29_failed.mp4 (2400 frames)
+Evaluation:  97%|??????????| 29/30 [7:10:54<15:51, 951.10s/episode, rate=0.034, success=1/29][rollout] resetting environment...
+[rollout] env.reset() returned
+[rollout] applying object pose episode 30/200
+  [eval pose] spoon: pos=(0.128, -0.467, 0.050)
+  [eval pose] bowl: pos=(0.124, -0.257, 0.050)
+
+[Evaluation] now success rate: 0.034  [1/29]
+[Evaluation] Evaluating episode 30...                            [Evaluation] Episode 30 timed out!
+[Evaluation] Episode 30 Stage Status00 [09:10<00:06, 19.79step/s]            
+  Tableware : fail
+        Bowl XY   : fail
+        Bowl dx/dy: 0.446 / 0.078
+        Spoon XY  : fail
+        Spoon dx/dy: 0.442 / 0.107
+
+  Wiping    : fail
+        Cloth XY  : fail
+        Cloth dx/dy: 0.220 / 0.070
+        Cloth z/contact: 0.056 / success
+        Coverage  : fail
+        Ratio     : 0.000
+        Threshold : 0.565
+        Ideal     : 0.807
+        Required  : 70%
+
+  Tray      : dist=0.000
+  Protected : success
+        Tissue    : success
+        Tissue dist: 0.001
+        Vase      : success
+        Vase dist : 0.005
+        Min non-tableware z: 0.041
+
+Overall   : fail
+Evaluation: 100%|??????????| 30/30 [7:20:12<00:00, 833.08s/episode, rate=0.033, success=1/30][video] saved /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_30_failed.mp4 (2400 frames)
+                                                                             [Evaluation] now success rate: 0.033  [1/30]
+[Evaluation] Final success rate: 0.033  [1/30]                               
+Evaluation: 100%|??????????| 30/30 [7:20:12<00:00, 880.41s/episode, rate=0.033, success=1/30]
+/usr/lib/python3.11/multiprocessing/resource_tracker.py:254: UserWarning: resource_tracker: There appear to be 1 leaked semaphore objects to clean up at shutdown
+  warnings.warn('resource_tracker: There appear to be %d '
+===== done =====
+rollout exit status: 0
+LOG=/workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520.log
+VIDEO_DIR=/workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos
+===== key lines =====
+grep: /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520.log: No such file or directory
+===== videos =====
+2026-06-11 05:21:39.4947061590 12827441 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_01_failed.mp4
+2026-06-11 05:36:02.4878166670 16109399 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_02_failed.mp4
+2026-06-11 05:50:18.0788020360 12046467 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_03_failed.mp4
+2026-06-11 06:04:32.4526383720 18279590 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_04_failed.mp4
+2026-06-11 06:17:09.6195580920 14309816 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_05_success.mp4
+2026-06-11 06:31:28.6858658080 16519708 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_06_failed.mp4
+2026-06-11 06:45:49.1262394880 12219127 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_07_failed.mp4
+2026-06-11 07:00:27.4158730590 15831242 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_08_failed.mp4
+2026-06-11 07:14:50.1839643200 13086608 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_09_failed.mp4
+2026-06-11 07:29:17.2362889060 12480896 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_10_failed.mp4
+2026-06-11 07:44:24.3499818520 19152354 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_11_failed.mp4
+2026-06-11 07:59:05.3551685320 17234767 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_12_failed.mp4
+2026-06-11 08:13:32.7321310720 15302816 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_13_failed.mp4
+2026-06-11 08:27:50.9972914080 17131195 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_14_failed.mp4
+2026-06-11 08:42:04.0398544010 13005216 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_15_failed.mp4
+2026-06-11 08:56:27.8140727110 11992441 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_16_failed.mp4
+2026-06-11 09:11:43.1406530550 17026931 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_17_failed.mp4
+2026-06-11 09:26:47.3800898720 12490967 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_18_failed.mp4
+2026-06-11 09:41:27.9969053630 14095884 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_19_failed.mp4
+2026-06-11 09:55:55.4113005960 17231525 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_20_failed.mp4
+2026-06-11 10:11:20.9127858610 16822820 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_21_failed.mp4
+2026-06-11 10:27:04.3395384020 16422998 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_22_failed.mp4
+2026-06-11 10:43:01.0908343480 18233967 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_23_failed.mp4
+2026-06-11 10:58:37.1349909650 13141425 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_24_failed.mp4
+2026-06-11 11:14:21.5673051450 17893183 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_25_failed.mp4
+2026-06-11 11:30:27.8865493370 17136679 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_26_failed.mp4
+2026-06-11 11:46:41.4349339030 15302528 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_27_failed.mp4
+2026-06-11 12:02:32.2750573450 16960081 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_28_failed.mp4
+2026-06-11 12:18:22.5025056950 17578472 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_29_failed.mp4
+2026-06-11 12:27:40.2052401140 17028712 /workspace/aicapstone/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520_videos/ep_30_failed.mp4
+tee: /home/glows/aicapstone_final_project/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520.log: Permission denied
+=== rollout finished for configs/dining_cleanup/fork_bowl2_scaled.json ===
+tee: /home/glows/aicapstone_final_project/experiments/advance/advanced-act-v3/rollout_hf_fork_bowl2_scaled_20260611_050520.log: Permission denied
+Thu Jun 11 12:27:43 PM UTC 2026