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0000000000000000000000000000000000000000..96ecf314e5820a99a3aa9c37d5d56bf0a43d0177 --- /dev/null +++ b/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/eval/videos/pusht_0/eval_episode_9.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02426c7872f3e2f2b0a8b0e3163e65bf112ab586dd173e9b2dc4ba47e9eb60fe +size 136090 diff --git a/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/heartbeat.json b/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/heartbeat.json index 1f5d36c56567ccd4cf2986aa391e0d2b2738099f..777c3b0b1ed12e2617a6d08c2cec444f7bdbc0af 100644 --- a/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/heartbeat.json +++ b/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/heartbeat.json @@ -1,12 +1,12 @@ { "eval_batch_size": 5, - "eval_episodes_executed": 0, + "eval_episodes_executed": 500, "eval_episodes_requested": 500, "eval_use_async_envs": false, - "last_update_unix": 1783423433.8495216, + "last_update_unix": 1783424749.6163461, "model_repo_id": "Anieyrudh/eag-pcir-diffusion-pusht-fixed-budget-model-v0", "model_revision": "847650388f2b62bf5135ff9d5033b2d100ffa88c", - "phase": "eval", + "phase": "completed_without_promotion", "physical_deployment_allowed": false, "run_id": "diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571", "schema_version": "eag-pcir.diffusion_pusht_canonical_eval_heartbeat.v0" diff --git a/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/logs/eval_stdout_stderr.log b/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/logs/eval_stdout_stderr.log new file mode 100644 index 0000000000000000000000000000000000000000..b9a1b2ee9631b70073e6832ebe0807a57e50dc26 --- /dev/null +++ b/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/logs/eval_stdout_stderr.log @@ -0,0 +1,62758 @@ +$ /lerobot/.venv/bin/lerobot-eval --policy.path=/tmp/eag-pcir/diffusion_pusht_canonical_eval/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/model_artifact_snapshot/diffusion-pusht-train-eval-v0-seed100000-train175000-eval500-2d907c6ec013/attempts/1783332543/train/checkpoints/175000/pretrained_model --output_dir=/tmp/eag-pcir/diffusion_pusht_canonical_eval/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/eval --env.type=pusht --eval.n_episodes=500 --eval.batch_size=5 --eval.use_async_envs=false --policy.device=cuda --policy.use_amp=false + +STDERR WARNING 2026-07-07 11:24:14 figs/eval.py:69 No job name provided, using 'pusht_diffusion' as job name. +STDERR INFO 2026-07-07 11:24:14 bot_eval.py:522 {'env': {'disable_env_checker': True, +STDERR 'episode_length': 300, +STDERR 'features': {'action': {'shape': (2,), +STDERR 'type': }, +STDERR 'agent_pos': {'shape': (2,), +STDERR 'type': }, +STDERR 'pixels': {'shape': (384, 384, 3), +STDERR 'type': }}, +STDERR 'features_map': {'action': 'action', +STDERR 'agent_pos': 'observation.state', +STDERR 'environment_state': 'observation.environment_state', +STDERR 'pixels': 'observation.image'}, +STDERR 'fps': 10, +STDERR 'max_parallel_tasks': 1, +STDERR 'obs_type': 'pixels_agent_pos', +STDERR 'observation_height': 384, +STDERR 'observation_width': 384, +STDERR 'render_mode': 'rgb_array', +STDERR 'task': 'PushT-v0', +STDERR 'visualization_height': 384, +STDERR 'visualization_width': 384}, +STDERR 'eval': {'batch_size': 5, 'n_episodes': 500, 'use_async_envs': False}, +STDERR 'job_name': 'pusht_diffusion', +STDERR 'output_dir': PosixPath('/tmp/eag-pcir/diffusion_pusht_canonical_eval/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/eval'), +STDERR 'policy': {'beta_end': 0.02, +STDERR 'beta_schedule': 'squaredcos_cap_v2', +STDERR 'beta_start': 0.0001, +STDERR 'clip_sample': True, +STDERR 'clip_sample_range': 1.0, +STDERR 'compile_mode': 'reduce-overhead', +STDERR 'compile_model': False, +STDERR 'crop_is_random': True, +STDERR 'crop_ratio': 1.0, +STDERR 'crop_shape': None, +STDERR 'device': 'cuda', +STDERR 'diffusion_step_embed_dim': 128, +STDERR 'do_mask_loss_for_padding': False, +STDERR 'down_dims': (512, 1024, 2048), +STDERR 'drop_n_last_frames': 7, +STDERR 'horizon': 64, +STDERR 'input_features': {'observation.image': {'shape': (3, 96, 96), +STDERR 'type': }, +STDERR 'observation.state': {'shape': (2,), +STDERR 'type': }}, +STDERR 'kernel_size': 5, +STDERR 'license': None, +STDERR 'n_action_steps': 32, +STDERR 'n_groups': 8, +STDERR 'n_obs_steps': 2, +STDERR 'noise_scheduler_type': 'DDPM', +STDERR 'normalization_mapping': {'ACTION': , +STDERR 'STATE': , +STDERR 'VISUAL': }, +STDERR 'num_inference_steps': None, +STDERR 'num_train_timesteps': 100, +STDERR 'optimizer_betas': (0.95, 0.999), +STDERR 'optimizer_eps': 1e-08, +STDERR 'optimizer_lr': 0.0001, +STDERR 'optimizer_weight_decay': 1e-06, +STDERR 'output_features': {'action': {'shape': (2,), +STDERR 'type': }}, +STDERR 'prediction_type': 'epsilon', +STDERR 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', +STDERR 'pretrained_path': PosixPath('/tmp/eag-pcir/diffusion_pusht_canonical_eval/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/model_artifact_snapshot/diffusion-pusht-train-eval-v0-seed100000-train175000-eval500-2d907c6ec013/attempts/1783332543/train/checkpoints/175000/pretrained_model'), +STDERR 'private': None, +STDERR 'push_to_hub': False, +STDERR 'repo_id': 'Anieyrudh/eag-pcir-diffusion-pusht-fixed-budget-model-v0', +STDERR 'resize_shape': None, +STDERR 'scheduler_name': 'cosine', +STDERR 'scheduler_warmup_steps': 500, +STDERR 'spatial_softmax_num_keypoints': 32, +STDERR 'tags': None, +STDERR 'use_amp': False, +STDERR 'use_film_scale_modulation': True, +STDERR 'use_group_norm': False, +STDERR 'use_peft': False, +STDERR 'use_separate_rgb_encoder_per_camera': True, +STDERR 'vision_backbone': 'resnet18'}, +STDERR 'rename_map': {}, +STDERR 'seed': 1000, +STDERR 'trust_remote_code': False} +STDERR INFO 2026-07-07 11:24:14 bot_eval.py:531 Output dir: /tmp/eag-pcir/diffusion_pusht_canonical_eval/diffusion-pusht-canonical-eval-v0-seed100000-eval500-batch5-sync-2d907c6ec013-modelb37f10baa571/eval +STDERR INFO 2026-07-07 11:24:14 bot_eval.py:533 Making environment (batch_size=5, async=False). +STDOUT gym id 'gym_pusht/PushT-v0' not found, attempting to import 'gym_pusht'... +STDERR /lerobot/.venv/lib/python3.12/site-packages/pygame/pkgdata.py:25: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. +STDERR from pkg_resources import resource_stream, resource_exists +STDERR INFO 2026-07-07 11:24:14 bot_eval.py:541 Making policy. +STDOUT Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /home/user_lerobot/.cache/torch/hub/checkpoints/resnet18-f37072fd.pth +STDERR +STDERR +STDERR 0%| | 0.00/44.7M [00:00